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-05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 14:05:53 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78f727fcd250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20102,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
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-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 14:05:53 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7dd88b4c1650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20101,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 14:05:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 14:05:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 14:05:53 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x792d83e5f690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20104,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 14:05:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 14:05:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 14:05:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 14:05:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 14:05:54 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72a817450a50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20103,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 14:05:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 14:05:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 14:05:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 14:05:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 14:05:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 14:05:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 14:05:56 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 14:05:56 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 14:05:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:05:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:05:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:05:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:05:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011514m	[env.py: 870]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:05:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 14:05:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07567045  1.09650577 -0.01151361] yaw=-138.9deg	[env.py: 1019]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04602455  1.19521146 -0.01151361] yaw=-138.6deg	[env.py: 1019]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:05:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.9ms, retries=177.7ms, total=192.7ms	[env.py: 1075]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.097, -0.012)	[env.py: 1079]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg	[env.py: 1082]
-05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 14:05:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021447m	[env.py: 870]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13020049  0.93740108  0.02144654] yaw=-148.5deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85542991  0.66821467  0.02144654] yaw=-171.8deg	[env.py: 1019]
-05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048169m	[env.py: 870]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 14:05:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 14:05:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63845505  0.48750587  0.02144654] yaw=-189.1deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=25.9ms, retries=135.4ms, total=161.3ms	[env.py: 1075]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, 0.937, 0.021)	[env.py: 1079]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69125629  0.08027645 -0.04816931] yaw=161.2deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047403m	[env.py: 870]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83807354  0.40816477 -0.04816931] yaw=180.3deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94443861  0.29547828 -0.04816931] yaw=166.2deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=36.3ms, retries=256.7ms, total=293.0ms	[env.py: 1075]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.080, -0.048)	[env.py: 1079]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.722247    0.63381804 -0.04740266] yaw=-165.9deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93355378  0.34263279 -0.04740266] yaw=167.9deg	[env.py: 1019]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.1ms, retries=353.7ms, total=377.8ms	[env.py: 1075]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.634, -0.047)	[env.py: 1079]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
-05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:05:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:05:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 26.633s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:06:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 27.691s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 27.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:06:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:06:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 80.513[deg]	[grasp_sample.py: 539]
-05/10 14:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 28.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:06:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:06:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:06:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:06:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.297[m] 87.891[deg]	[grasp_sample.py: 539]
-05/10 14:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:06:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:06:26 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.473[m] 88.425[deg]	[grasp_sample.py: 539]
-05/10 14:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:06:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.199s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:06:28 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.661[m] 83.886[deg]	[grasp_sample.py: 539]
-05/10 14:06:29 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:06:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:06:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:06:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:06:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:06:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:06:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:06:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037745m	[env.py: 870]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:06:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88134725  0.25156694 -0.03774461] yaw=165.4deg	[env.py: 1019]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86567     0.10700006 -0.03774461] yaw=163.1deg	[env.py: 1019]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms	[env.py: 1075]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.252, -0.038)	[env.py: 1079]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:06:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:06:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:06:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:06:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:06:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:06:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:06:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.417[m] 86.517[deg]	[grasp_sample.py: 539]
-05/10 14:06:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:06:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:06:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:06:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:07:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:07:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:07:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:07:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:08:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.206[deg]	[grasp_sample.py: 539]
-05/10 14:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:08:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:08:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:08:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:08:53 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.778[deg]	[grasp_sample.py: 539]
-05/10 14:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:55 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:08:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:08:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:08:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:08:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023508m	[env.py: 870]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65319517  0.23237847 -0.02350847] yaw=164.6deg	[env.py: 1019]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72042623  0.42141276 -0.02350847] yaw=183.0deg	[env.py: 1019]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84320424  1.04817665 -0.02350847] yaw=-153.5deg	[env.py: 1019]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms	[env.py: 1075]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.232, -0.024)	[env.py: 1079]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
-05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:08:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:08:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.389[deg]	[grasp_sample.py: 539]
-05/10 14:08:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:08:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:08:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:08:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:08:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:08:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:08:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:08:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 101.224[deg]	[grasp_sample.py: 539]
-05/10 14:08:59 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:08:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:08:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:08:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:09:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:09:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:09:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:09:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028376m	[env.py: 870]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89959851  0.93973362  0.02837596] yaw=-149.8deg	[env.py: 1019]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08894542  1.22452254  0.02837596] yaw=-118.7deg	[env.py: 1019]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:09:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.5ms, total=238.6ms	[env.py: 1075]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.940, 0.028)	[env.py: 1079]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
-05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:09:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:09:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:09:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:09:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:09:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 87.697[deg]	[grasp_sample.py: 539]
-05/10 14:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:09:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:09:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:09:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:09:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:09:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:09:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:09:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:09:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:09:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:09:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:09:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.31s (batch: 4.61s, save: 8.70s)	[pipeline.py: 300]
-05/10 14:09:35 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.74s:
-  episode_total: mean=220.92s, total=220.92s, count=1, min=220922.5ms, max=220922.5ms
-  sensor_polling: mean=479.5ms, total=143.86s, count=300, min=450.4ms, max=633.7ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8696.3ms, max=8696.3ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.5ms, max=32.9ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
-  task_sampling: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  task_specific_sample: mean=652.7ms, total=652.7ms, count=1, min=652.7ms, max=652.7ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=686.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:09:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:09:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:09:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:09:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:09:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:09:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:09:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044235m	[env.py: 870]
-05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:09:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97971362  0.67989239  0.04423522] yaw=-165.6deg	[env.py: 1019]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00498182  0.58033261  0.04423522] yaw=-178.7deg	[env.py: 1019]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79657213  0.1582366   0.04423522] yaw=150.1deg	[env.py: 1019]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:09:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms	[env.py: 1075]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.680, 0.044)	[env.py: 1079]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg	[env.py: 1082]
-05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
-05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:09:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:09:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:09:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:09:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:09:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:09:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:09:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:09:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 91.136[deg]	[grasp_sample.py: 539]
-05/10 14:09:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:09:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:09:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:09:44 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:09:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:09:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:09:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:09:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:09:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.14s (batch: 4.38s, save: 8.76s)	[pipeline.py: 300]
-05/10 14:09:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.36s:
-  episode_total: mean=121.18s, total=242.35s, count=2, min=35900.7ms, max=206451.3ms
-  sensor_polling: mean=483.5ms, total=145.05s, count=300, min=462.3ms, max=603.4ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.8ms, max=8756.8ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=30.3ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4381.4ms, max=4381.4ms
-  task_sampling: mean=2.18s, total=4.36s, count=2, min=463.8ms, max=3896.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  task_specific_sample: mean=529.1ms, total=1.06s, count=2, min=461.1ms, max=597.1ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
-  mj_forward_sync: mean=693.9us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
-  policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:09:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:09:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002766m	[env.py: 870]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.6ms, total=166.6ms	[env.py: 1105]
-05/10 14:09:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 14:09:59 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 14:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:10:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:10:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:10:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:10:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:10:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007892m	[env.py: 870]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95481712  0.55876433  0.00789238] yaw=-182.5deg	[env.py: 1019]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08122887  0.8956589   0.00789238] yaw=-142.4deg	[env.py: 1019]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02348414  0.18297724  0.00789238] yaw=145.6deg	[env.py: 1019]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.559, 0.008)	[env.py: 1079]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg	[env.py: 1082]
-05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:10:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:10:01 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:10:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:10:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:10:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:10:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.327[m] 90.535[deg]	[grasp_sample.py: 539]
-05/10 14:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:10:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:10:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:10:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:10:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:11:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:11:34 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:11:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:11:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:11:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:11:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:11:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:11:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:12:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:12:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.99s (batch: 3.43s, save: 8.55s)	[pipeline.py: 300]
-05/10 14:12:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.34s:
-  episode_total: mean=187.41s, total=374.83s, count=2, min=181968.0ms, max=192860.4ms
-  sensor_polling: mean=464.4ms, total=267.48s, count=576, min=435.7ms, max=684.0ms
-  physics_step: mean=22.3ms, total=12.85s, count=576, min=15.7ms, max=49.2ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8554.5ms, max=8554.5ms
-  task_sampling: mean=2.17s, total=4.34s, count=2, min=426.8ms, max=3910.8ms
-  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.6ms, max=3434.6ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  task_specific_sample: mean=478.0ms, total=956.0ms, count=2, min=423.2ms, max=532.8ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms
-  mj_forward_sync: mean=623.6us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
-  policy_setup: mean=26.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:12:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:12:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:12:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.96s (batch: 4.70s, save: 9.26s)	[pipeline.py: 300]
-05/10 14:12:11 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.34s:
-  episode_total: mean=188.36s, total=376.72s, count=2, min=185557.6ms, max=191162.4ms
-  sensor_polling: mean=474.0ms, total=274.44s, count=579, min=435.6ms, max=734.4ms
-  physics_step: mean=22.4ms, total=12.96s, count=579, min=16.9ms, max=31.3ms
-  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms
-  task_sampling: mean=2.67s, total=5.34s, count=2, min=495.8ms, max=4848.4ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4695.2ms, max=4695.2ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  task_specific_sample: mean=671.6ms, total=1.34s, count=2, min=493.2ms, max=850.1ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=681.1us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:12:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:12:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035267m	[env.py: 870]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74395368  0.59498521  0.03526688] yaw=-174.7deg	[env.py: 1019]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70476241  0.85947836  0.03526688] yaw=-161.8deg	[env.py: 1019]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86302923  0.41363316  0.03526688] yaw=176.3deg	[env.py: 1019]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms	[env.py: 1075]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.595, 0.035)	[env.py: 1079]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
-05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:12:12 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:12:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:12:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:12:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:12:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:12:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:12:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.523[deg]	[grasp_sample.py: 539]
-05/10 14:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:12:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:12:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:12:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:12:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:12:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:12:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048967m	[env.py: 870]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:12:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73075596  0.025655    0.04896676] yaw=154.9deg	[env.py: 1019]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90522028  0.48042069  0.04896676] yaw=174.7deg	[env.py: 1019]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95926488  0.11418804  0.04896676] yaw=149.7deg	[env.py: 1019]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms	[env.py: 1075]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.026, 0.049)	[env.py: 1079]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg	[env.py: 1082]
-05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:12:13 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:12:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:12:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 101.791[deg]	[grasp_sample.py: 539]
-05/10 14:12:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:12:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:12:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:12:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:12:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:12:26 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 14:12:30 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.63s (batch: 4.22s, save: 8.41s)	[pipeline.py: 300]
-05/10 14:12:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=182.36s, total=182.36s, count=1, min=182363.3ms, max=182363.3ms
-  sensor_polling: mean=477.4ms, total=137.03s, count=287, min=451.2ms, max=732.1ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8409.6ms, max=8409.6ms
-  physics_step: mean=22.1ms, total=6.34s, count=287, min=17.0ms, max=30.8ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.5ms, max=4220.5ms
-  task_sampling: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
-  task_specific_sample: mean=420.3ms, total=420.3ms, count=1, min=420.3ms, max=420.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=444.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:12:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:12:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019357m	[env.py: 870]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78023439  0.39542164 -0.01935712] yaw=168.8deg	[env.py: 1019]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98237261  0.79356752 -0.01935712] yaw=-164.7deg	[env.py: 1019]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94133528  1.07236431 -0.01935712] yaw=-149.3deg	[env.py: 1019]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.1ms, total=323.2ms	[env.py: 1075]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.395, -0.019)	[env.py: 1079]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
-05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:12:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:12:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:12:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:12:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:12:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:12:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:12:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:12:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 97.592[deg]	[grasp_sample.py: 539]
-05/10 14:12:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:12:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:12:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:12:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:12:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:12:52 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 14:13:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:13:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:13:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.41s (batch: 4.12s, save: 8.28s)	[pipeline.py: 300]
-05/10 14:13:05 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
-  episode_total: mean=92.17s, total=184.34s, count=2, min=178.3ms, max=184164.2ms
-  sensor_polling: mean=479.5ms, total=137.13s, count=286, min=453.1ms, max=704.2ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8284.0ms, max=8284.0ms
-  physics_step: mean=24.5ms, total=7.01s, count=286, min=16.3ms, max=40.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.9ms, max=4124.9ms
-  task_specific_sample: mean=275.7ms, total=551.3ms, count=2, min=172.1ms, max=379.2ms
-  task_sampling: mean=382.2ms, total=382.2ms, count=1, min=382.2ms, max=382.2ms
-  task_sampling_failed: mean=178.3ms, total=178.3ms, count=1, min=178.3ms, max=178.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=433.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:13:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:13:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:13:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:13:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045616m	[env.py: 870]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89849137  0.52992825 -0.0456164 ] yaw=-175.0deg	[env.py: 1019]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18856068  0.97996157 -0.0456164 ] yaw=-140.1deg	[env.py: 1019]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11712477  0.93137096 -0.0456164 ] yaw=-132.1deg	[env.py: 1019]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.8ms	[env.py: 1075]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.530, -0.046)	[env.py: 1079]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
-05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:13:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:13:07 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:13:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:13:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:13:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:13:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:13:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 94.585[deg]	[grasp_sample.py: 539]
-05/10 14:13:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:13:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:13:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:13:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:14:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:14:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:14:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:14:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.088[deg]	[grasp_sample.py: 539]
-05/10 14:14:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:14:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:14:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:14:44 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:14:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:15:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:15:02 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 14:15:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.49s:
-  episode_total: mean=169.06s, total=169.06s, count=1, min=169063.6ms, max=169063.6ms
-  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=453.1ms, max=759.2ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=15.2ms, max=31.6ms
-  task_sampling: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms
-  task_specific_sample: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:15:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011141m	[env.py: 870]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84751969  0.86747897 -0.01114094] yaw=-160.9deg	[env.py: 1019]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74676332  0.57139074 -0.01114094] yaw=-171.7deg	[env.py: 1019]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9162073   0.49529128 -0.01114094] yaw=-179.0deg	[env.py: 1019]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.867, -0.011)	[env.py: 1079]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:15:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:15:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:15:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:15:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:15:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:15:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:15:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 86.231[deg]	[grasp_sample.py: 539]
-05/10 14:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:15:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:15:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:15:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:15:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:15:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:15:17 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:15:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:15:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:15:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.93s (batch: 4.47s, save: 8.46s)	[pipeline.py: 300]
-05/10 14:15:19 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
-  episode_total: mean=188.15s, total=188.15s, count=1, min=188147.8ms, max=188147.8ms
-  sensor_polling: mean=475.8ms, total=142.73s, count=300, min=451.5ms, max=844.0ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.9ms, max=8458.9ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=16.5ms, max=30.6ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4472.0ms, max=4472.0ms
-  task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms
-  task_specific_sample: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=493.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:15:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:15:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:15:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:15:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003836m	[env.py: 870]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:15:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07203263  1.02068654  0.00383565] yaw=-141.0deg	[env.py: 1019]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70530599  0.83474812  0.00383565] yaw=-166.7deg	[env.py: 1019]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85919908  0.66731778  0.00383565] yaw=-178.5deg	[env.py: 1019]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms	[env.py: 1075]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.021, 0.004)	[env.py: 1079]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:15:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:15:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:15:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:15:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:15:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.375[m] 84.383[deg]	[grasp_sample.py: 539]
-05/10 14:15:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:15:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:15:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:15:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:15:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:15:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:15:45 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:15:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:15:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:15:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.86s (batch: 4.34s, save: 9.52s)	[pipeline.py: 300]
-05/10 14:15:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:15:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.63s:
-  episode_total: mean=193.90s, total=193.90s, count=1, min=193900.4ms, max=193900.4ms
-  sensor_polling: mean=485.2ms, total=145.56s, count=300, min=455.6ms, max=783.2ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9518.2ms, max=9518.2ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=18.8ms, max=38.1ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.4ms, max=4340.4ms
-  task_sampling: mean=628.8ms, total=628.8ms, count=1, min=628.8ms, max=628.8ms
-  task_specific_sample: mean=624.8ms, total=624.8ms, count=1, min=624.8ms, max=624.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=451.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:15:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:15:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:15:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009189m	[env.py: 870]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9438823   0.85806287 -0.00918854] yaw=-144.6deg	[env.py: 1019]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80088408  0.74344339 -0.00918854] yaw=-169.4deg	[env.py: 1019]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70427385  0.04769636 -0.00918854] yaw=153.1deg	[env.py: 1019]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=84.5ms, total=84.6ms	[env.py: 1075]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.858, -0.009)	[env.py: 1079]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
-05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:15:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:15:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:15:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 82.622[deg]	[grasp_sample.py: 539]
-05/10 14:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:15:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:15:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:15:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:16:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:16:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:16:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:16:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:16:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:16:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:16:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.41s (batch: 4.30s, save: 9.12s)	[pipeline.py: 300]
-05/10 14:16:22 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
-  episode_total: mean=195.31s, total=195.31s, count=1, min=195310.8ms, max=195310.8ms
-  sensor_polling: mean=483.0ms, total=144.89s, count=300, min=453.7ms, max=735.7ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.8ms, max=9117.8ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.6ms, max=34.3ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.1ms, max=4295.1ms
-  task_sampling: mean=398.6ms, total=398.6ms, count=1, min=398.6ms, max=398.6ms
-  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:16:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:16:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:16:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:16:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:16:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:16:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:16:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035141m	[env.py: 870]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:16:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97514845  0.20865218  0.03514068] yaw=156.3deg	[env.py: 1019]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83401297  0.81676644  0.03514068] yaw=-161.2deg	[env.py: 1019]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03018768  1.16249068  0.03514068] yaw=-140.4deg	[env.py: 1019]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:16:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.3ms	[env.py: 1075]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.209, 0.035)	[env.py: 1079]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg	[env.py: 1082]
-05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:16:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:16:24 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:16:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:16:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:16:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:16:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:16:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.315[m] 80.006[deg]	[grasp_sample.py: 539]
-05/10 14:16:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:16:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:16:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:17:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:17:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:17:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:17:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:17:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:17:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:17:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:17:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:17:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]	[grasp_sample.py: 539]
-05/10 14:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:17:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:17:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:17:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038383m	[env.py: 870]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60971682  0.5733481   0.03838331] yaw=-174.7deg	[env.py: 1019]
-05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80833115  0.63032623  0.03838331] yaw=-172.9deg	[env.py: 1019]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80321012  0.0394085   0.03838331] yaw=148.3deg	[env.py: 1019]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=387.9ms, total=387.9ms	[env.py: 1075]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.573, 0.038)	[env.py: 1079]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
-05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
-05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:18:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:18:00 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:01 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.208s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:18:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.172[deg]	[grasp_sample.py: 539]
-05/10 14:18:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:18:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:18:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:18:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:18:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.274[deg]	[grasp_sample.py: 539]
-05/10 14:18:10 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:18:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:18:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:18:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:18:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:18:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:18:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:18:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025100m	[env.py: 870]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:18:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07153121  1.24383276  0.02509963] yaw=-119.6deg	[env.py: 1019]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13561491  1.10709203  0.02509963] yaw=-129.6deg	[env.py: 1019]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.4ms, total=266.5ms	[env.py: 1075]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.244, 0.025)	[env.py: 1079]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg	[env.py: 1082]
-05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:18:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:18:12 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:18:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:18:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:18:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:18:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.544[m] 81.534[deg]	[grasp_sample.py: 539]
-05/10 14:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:18:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:18:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:18:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.58s (batch: 4.38s, save: 9.20s)	[pipeline.py: 300]
-05/10 14:18:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
-  episode_total: mean=191.77s, total=191.77s, count=1, min=191765.7ms, max=191765.7ms
-  sensor_polling: mean=476.0ms, total=142.79s, count=300, min=445.0ms, max=726.4ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.0ms, max=49.0ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4378.3ms, max=4378.3ms
-  task_sampling: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
-  task_specific_sample: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=415.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:18:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:18:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:18:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:18:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:18:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:18:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:18:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m	[env.py: 870]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:18:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90537391  0.78232927  0.03142028] yaw=-166.5deg	[env.py: 1019]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86572888  0.12055873  0.03142028] yaw=152.1deg	[env.py: 1019]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:18:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms	[env.py: 1075]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.782, 0.031)	[env.py: 1079]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
-05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:18:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:18:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:18:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:18:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:18:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:18:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:18:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:18:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.500[deg]	[grasp_sample.py: 539]
-05/10 14:18:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:18:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:18:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:18:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:18:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:18:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:18:56 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 14:18:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:19:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:19:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:19:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.08s (batch: 4.37s, save: 8.71s)	[pipeline.py: 300]
-05/10 14:19:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
-  episode_total: mean=193.37s, total=193.37s, count=1, min=193370.6ms, max=193370.6ms
-  sensor_polling: mean=490.0ms, total=146.50s, count=299, min=459.2ms, max=659.8ms
-  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8706.6ms, max=8706.6ms
-  physics_step: mean=22.9ms, total=6.86s, count=299, min=16.5ms, max=32.9ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.5ms, max=4374.5ms
-  task_sampling: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
-  task_specific_sample: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=497.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:19:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:19:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:19:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:19:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:19:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:19:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:19:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044560m	[env.py: 870]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:19:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75084256  0.55442678 -0.0445596 ] yaw=-178.6deg	[env.py: 1019]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94782     0.46865595 -0.0445596 ] yaw=178.2deg	[env.py: 1019]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85904163  0.0377907  -0.0445596 ] yaw=152.0deg	[env.py: 1019]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:19:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms	[env.py: 1075]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.554, -0.045)	[env.py: 1079]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg	[env.py: 1082]
-05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:19:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:19:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:19:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:19:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:19:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 98.544[deg]	[grasp_sample.py: 539]
-05/10 14:19:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:19:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:19:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:19:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:19:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:19:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:20:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:20:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:20:16 INFO: [Worker 0] Feasibility-checked 70 grasps in 1.773s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 14:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 14:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:20:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:20:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:20:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:20:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:20:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020229m	[env.py: 870]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8942734   1.19744634 -0.02022881] yaw=-127.5deg	[env.py: 1019]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89133768  0.76884576 -0.02022881] yaw=-158.8deg	[env.py: 1019]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03225475  0.89598383 -0.02022881] yaw=-148.9deg	[env.py: 1019]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms	[env.py: 1075]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 1.197, -0.020)	[env.py: 1079]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
-05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:20:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:20:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:20:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:20:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:20:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:20:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:20:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:20:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:20:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.703[m] 102.299[deg]	[grasp_sample.py: 539]
-05/10 14:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:20:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:20:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026751m	[env.py: 870]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.0ms, total=174.0ms	[env.py: 1105]
-05/10 14:20:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 14:20:23 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 14:20:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:20:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:20:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:20:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:20:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:20:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:20:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:20:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015089m	[env.py: 870]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:20:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7794751   0.62967367 -0.01508897] yaw=-172.1deg	[env.py: 1019]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87277282  0.50430861 -0.01508897] yaw=-187.1deg	[env.py: 1019]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.630, -0.015)	[env.py: 1079]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
-05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:20:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:20:25 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:20:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:20:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:20:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:20:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:20:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:20:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 88.945[deg]	[grasp_sample.py: 539]
-05/10 14:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:20:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:20:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:20:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:20:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:20:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:20:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:20:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:21:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:21:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:21:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.56s, save: 8.28s)	[pipeline.py: 300]
-05/10 14:21:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.19s:
-  episode_total: mean=174.32s, total=348.64s, count=2, min=156498.6ms, max=192143.2ms
-  sensor_polling: mean=479.9ms, total=275.46s, count=574, min=444.5ms, max=844.8ms
-  physics_step: mean=22.4ms, total=12.84s, count=574, min=15.7ms, max=33.6ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8275.3ms, max=8275.3ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.7ms, max=4559.7ms
-  task_sampling: mean=594.5ms, total=1.19s, count=2, min=408.7ms, max=780.3ms
-  task_specific_sample: mean=590.6ms, total=1.18s, count=2, min=404.8ms, max=776.3ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
-  mj_forward_sync: mean=541.1us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:21:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:21:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:21:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:21:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:21:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035715m	[env.py: 870]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17456842  1.00305834  0.03571494] yaw=-140.7deg	[env.py: 1019]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9937009   0.64250918  0.03571494] yaw=-172.3deg	[env.py: 1019]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92664416  1.21694769  0.03571494] yaw=-139.1deg	[env.py: 1019]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.9ms, total=117.9ms	[env.py: 1075]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.003, 0.036)	[env.py: 1079]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
-05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.742m	[env.py: 1086]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:21:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:21:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:21:14 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:21:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:21:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:21:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:21:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:21:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:21:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:21:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 86.943[deg]	[grasp_sample.py: 539]
-05/10 14:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:21:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:21:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:21:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:21:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:21:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:21:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:21:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.29s (batch: 4.28s, save: 11.02s)	[pipeline.py: 300]
-05/10 14:21:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=193.04s, total=193.04s, count=1, min=193036.4ms, max=193036.4ms
-  sensor_polling: mean=481.5ms, total=144.45s, count=300, min=445.7ms, max=880.2ms
-  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11018.3ms, max=11018.3ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=15.6ms, max=40.9ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.6ms, max=4276.6ms
-  task_sampling: mean=487.1ms, total=487.1ms, count=1, min=487.1ms, max=487.1ms
-  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:21:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:21:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:21:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:21:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034907m	[env.py: 870]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8928421   0.27860261  0.03490673] yaw=154.8deg	[env.py: 1019]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14272022  1.03364451  0.03490673] yaw=-127.1deg	[env.py: 1019]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.7ms	[env.py: 1075]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.279, 0.035)	[env.py: 1079]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg	[env.py: 1082]
-05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:21:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:21:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:21:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:21:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:21:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:21:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 89.190[deg]	[grasp_sample.py: 539]
-05/10 14:21:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:21:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:21:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:21:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:21:48 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:21:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:21:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:22:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:22:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:22:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:22:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:22:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:22:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:22:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.40s, save: 8.90s)	[pipeline.py: 300]
-05/10 14:22:24 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.55s:
-  episode_total: mean=192.98s, total=192.98s, count=1, min=192982.3ms, max=192982.3ms
-  sensor_polling: mean=483.6ms, total=145.09s, count=300, min=455.1ms, max=720.1ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8895.1ms, max=8895.1ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=18.8ms, max=79.8ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4400.1ms, max=4400.1ms
-  task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
-  task_specific_sample: mean=546.0ms, total=546.0ms, count=1, min=546.0ms, max=546.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=39.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:22:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:22:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:22:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:22:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028836m	[env.py: 870]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15961076  1.12263759 -0.02883615] yaw=-119.6deg	[env.py: 1019]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15394852  1.0527929  -0.02883615] yaw=-131.5deg	[env.py: 1019]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98218125  0.15705872 -0.02883615] yaw=146.8deg	[env.py: 1019]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:22:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.160, 1.123, -0.029)	[env.py: 1079]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg	[env.py: 1082]
-05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:22:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:22:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:22:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.821s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:22:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.433[m] 90.855[deg]	[grasp_sample.py: 539]
-05/10 14:22:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:22:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:22:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:22:59 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:23:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:23:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:23:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:23:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:23:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:23:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:23:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:23:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.113[deg]	[grasp_sample.py: 539]
-05/10 14:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:29 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:23:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:23:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040661m	[env.py: 870]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81628415  0.196483   -0.04066056] yaw=167.7deg	[env.py: 1019]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68727892  0.24669975 -0.04066056] yaw=164.4deg	[env.py: 1019]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05481447  0.83173347 -0.04066056] yaw=-154.6deg	[env.py: 1019]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms	[env.py: 1075]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.196, -0.041)	[env.py: 1079]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
-05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:23:31 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:23:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:23:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:23:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:23:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:23:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.477[m] 83.858[deg]	[grasp_sample.py: 539]
-05/10 14:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:23:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:23:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:23:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:23:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.59s (batch: 3.83s, save: 8.76s)	[pipeline.py: 300]
-05/10 14:23:34 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.88s:
-  episode_total: mean=84.65s, total=423.24s, count=5, min=183.8ms, max=189338.8ms
-  sensor_polling: mean=483.5ms, total=329.27s, count=681, min=433.8ms, max=838.7ms
-  physics_step: mean=22.3ms, total=15.18s, count=681, min=15.6ms, max=38.2ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8764.3ms, max=8764.3ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.0ms, max=3827.0ms
-  task_specific_sample: mean=408.7ms, total=2.04s, count=5, min=178.5ms, max=542.7ms
-  task_sampling: mean=469.7ms, total=1.88s, count=4, min=417.5ms, max=545.9ms
-  task_sampling_failed: mean=183.8ms, total=183.8ms, count=1, min=183.8ms, max=183.8ms
-  scene_randomize: mean=1.7ms, total=8.3ms, count=5, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=431.8us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:23:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:23:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:23:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:23:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:23:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040736m	[env.py: 870]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:23:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79282446  0.72311692 -0.04073633] yaw=-170.0deg	[env.py: 1019]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69299362  0.52228128 -0.04073633] yaw=-183.4deg	[env.py: 1019]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04882899  1.28335603 -0.04073633] yaw=-136.4deg	[env.py: 1019]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:23:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms	[env.py: 1075]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.723, -0.041)	[env.py: 1079]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
-05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:23:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:23:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:23:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:23:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:23:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 89.644[deg]	[grasp_sample.py: 539]
-05/10 14:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:23:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:23:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:23:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:23:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.354[deg]	[grasp_sample.py: 539]
-05/10 14:23:39 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:23:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:23:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:23:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:23:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:23:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:23:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014895m	[env.py: 870]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:23:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89084892  0.33911941 -0.01489474] yaw=174.0deg	[env.py: 1019]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04754105  0.91572204 -0.01489474] yaw=-153.0deg	[env.py: 1019]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66163747  0.48259597 -0.01489474] yaw=-170.2deg	[env.py: 1019]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:23:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.339, -0.015)	[env.py: 1079]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
-05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:23:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:23:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:23:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:23:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:23:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:23:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:23:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:23:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.484[deg]	[grasp_sample.py: 539]
-05/10 14:23:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:23:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:23:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:24:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:24:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:24:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:24:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:24:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:24:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:24:49 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 9.931[deg]	[grasp_sample.py: 539]
-05/10 14:24:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:24:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:24:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:24:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:24:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:24:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:24:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:24:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036250m	[env.py: 870]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:24:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09469198  1.17180561  0.03624994] yaw=-140.2deg	[env.py: 1019]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:24:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.6ms	[env.py: 1075]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.172, 0.036)	[env.py: 1079]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg	[env.py: 1082]
-05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:24:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:24:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:24:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:24:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:24:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:24:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:24:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.696s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:24:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.542[m] 92.338[deg]	[grasp_sample.py: 539]
-05/10 14:24:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:24:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:24:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:25:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:25:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:26:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:26:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:26:08 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:26:13 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:26:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:26:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:26:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:26:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:26:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:26:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:26:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:26:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:26:36 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 14:26:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:26:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:26:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.97s (batch: 4.39s, save: 8.58s)	[pipeline.py: 300]
-05/10 14:26:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:26:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:26:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.79s (batch: 4.36s, save: 8.43s)	[pipeline.py: 300]
-05/10 14:26:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=187.87s, total=187.87s, count=1, min=187871.5ms, max=187871.5ms
-  sensor_polling: mean=473.0ms, total=141.89s, count=300, min=449.3ms, max=650.5ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.0ms, max=8580.0ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.4ms, max=32.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.5ms, max=4391.5ms
-  task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
-  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:26:44 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.94s:
-  episode_total: mean=154.94s, total=309.89s, count=2, min=116772.0ms, max=193118.0ms
-  sensor_polling: mean=487.5ms, total=244.26s, count=501, min=455.6ms, max=792.6ms
-  physics_step: mean=23.3ms, total=11.65s, count=501, min=17.3ms, max=57.9ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.0ms, max=8426.0ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.8ms, max=4361.8ms
-  task_sampling: mean=468.3ms, total=936.5ms, count=2, min=416.4ms, max=520.1ms
-  task_specific_sample: mean=464.3ms, total=928.6ms, count=2, min=413.2ms, max=515.4ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.4ms, max=3.2ms
-  mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:26:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:26:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034466m	[env.py: 870]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67683357  0.45327974 -0.03446587] yaw=188.7deg	[env.py: 1019]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0120703   0.32471474 -0.03446587] yaw=162.3deg	[env.py: 1019]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:26:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:26:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034907m	[env.py: 870]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:26:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms	[env.py: 1075]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.453, -0.034)	[env.py: 1079]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.7 deg	[env.py: 1082]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82927735  0.18855344 -0.03490672] yaw=166.0deg	[env.py: 1019]
-05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88984311  0.4486617  -0.03490672] yaw=177.3deg	[env.py: 1019]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03827952  0.97393978 -0.03490672] yaw=-153.0deg	[env.py: 1019]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:26:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=392.8ms, total=392.9ms	[env.py: 1075]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.189, -0.035)	[env.py: 1079]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
-05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:26:46 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:26:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:26:46 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:26:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:26:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.916[deg]	[grasp_sample.py: 539]
-05/10 14:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:26:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:26:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 82.859[deg]	[grasp_sample.py: 539]
-05/10 14:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:26:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:26:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:26:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:26:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.33s (batch: 4.43s, save: 8.90s)	[pipeline.py: 300]
-05/10 14:26:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s:
-  episode_total: mean=167.60s, total=335.20s, count=2, min=146130.6ms, max=189065.2ms
-  sensor_polling: mean=477.5ms, total=265.97s, count=557, min=445.3ms, max=805.4ms
-  physics_step: mean=22.7ms, total=12.62s, count=557, min=15.0ms, max=35.9ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.2ms, max=8904.2ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
-  task_sampling: mean=411.3ms, total=822.6ms, count=2, min=391.4ms, max=431.2ms
-  task_specific_sample: mean=407.3ms, total=814.6ms, count=2, min=387.6ms, max=427.0ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.1ms, max=2.7ms
-  mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:26:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007580m	[env.py: 870]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995477  0.26413738  0.00757984] yaw=174.7deg	[env.py: 1019]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04159775  0.24403971  0.00757984] yaw=162.0deg	[env.py: 1019]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06960744  1.01922807  0.00757984] yaw=-146.4deg	[env.py: 1019]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.1ms	[env.py: 1075]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.264, 0.008)	[env.py: 1079]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:26:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:26:52 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:26:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:26:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.698[deg]	[grasp_sample.py: 539]
-05/10 14:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:26:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:26:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:26:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:27:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:27:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:27:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:27:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:27:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.740s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:27:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.295[deg]	[grasp_sample.py: 539]
-05/10 14:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:27:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:27:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:27:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:27:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:28:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:28:02 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:28:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:28:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:28:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:28:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.99s (batch: 4.52s, save: 8.47s)	[pipeline.py: 300]
-05/10 14:28:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.87s:
-  episode_total: mean=173.90s, total=347.80s, count=2, min=144265.5ms, max=203535.8ms
-  sensor_polling: mean=479.1ms, total=265.88s, count=555, min=452.0ms, max=753.2ms
-  physics_step: mean=21.8ms, total=12.08s, count=555, min=16.2ms, max=38.4ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8468.5ms, max=8468.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.4ms, max=4521.4ms
-  task_sampling: mean=435.4ms, total=870.8ms, count=2, min=424.9ms, max=445.9ms
-  task_specific_sample: mean=431.9ms, total=863.8ms, count=2, min=421.1ms, max=442.6ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=414.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:28:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:28:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:28:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:28:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:28:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:28:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:28:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006864m	[env.py: 870]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:28:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77705269  0.28051767  0.0068636 ] yaw=170.9deg	[env.py: 1019]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:28:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=193.9ms	[env.py: 1075]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.281, 0.007)	[env.py: 1079]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
-05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:28:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:28:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:28:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:28:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.531[m] 94.745[deg]	[grasp_sample.py: 539]
-05/10 14:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:28:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:28:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.526[deg]	[grasp_sample.py: 539]
-05/10 14:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:28:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:28:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:28:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:29:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:29:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:29:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:29:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:29:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:29:24 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:29:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:29:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:29:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:29:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:29:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:29:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:29:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:29:48 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:29:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:29:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:29:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.83s (batch: 4.36s, save: 8.47s)	[pipeline.py: 300]
-05/10 14:29:55 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.68s:
-  episode_total: mean=189.85s, total=189.85s, count=1, min=189849.9ms, max=189849.9ms
-  sensor_polling: mean=481.6ms, total=144.48s, count=300, min=452.1ms, max=683.2ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.4ms, max=8466.4ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.3ms, max=33.7ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.1ms, max=4361.1ms
-  task_sampling: mean=676.6ms, total=676.6ms, count=1, min=676.6ms, max=676.6ms
-  task_specific_sample: mean=672.5ms, total=672.5ms, count=1, min=672.5ms, max=672.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=423.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:29:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:29:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:29:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:29:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:29:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:29:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:29:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002162m	[env.py: 870]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:29:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81393293  0.40537927  0.00216236] yaw=180.1deg	[env.py: 1019]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84176848  0.29764408  0.00216236] yaw=161.6deg	[env.py: 1019]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:29:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.5ms	[env.py: 1075]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.405, 0.002)	[env.py: 1079]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.1 deg	[env.py: 1082]
-05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:29:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:29:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:29:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:29:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:29:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 103.074[deg]	[grasp_sample.py: 539]
-05/10 14:29:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:29:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:29:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:29:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.01s (batch: 4.17s, save: 8.84s)	[pipeline.py: 300]
-05/10 14:29:59 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s:
-  episode_total: mean=193.83s, total=193.83s, count=1, min=193831.4ms, max=193831.4ms
-  sensor_polling: mean=491.9ms, total=147.57s, count=300, min=454.7ms, max=833.8ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8837.8ms, max=8837.8ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.3ms, max=31.4ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.5ms, max=4167.5ms
-  task_sampling: mean=685.7ms, total=685.7ms, count=1, min=685.7ms, max=685.7ms
-  task_specific_sample: mean=680.3ms, total=680.3ms, count=1, min=680.3ms, max=680.3ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=755.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:30:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:30:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:30:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:30:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018199m	[env.py: 870]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8526533   0.16758849 -0.01819886] yaw=160.7deg	[env.py: 1019]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14621238  1.07529737 -0.01819886] yaw=-138.9deg	[env.py: 1019]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88893924  0.50199117 -0.01819886] yaw=-174.9deg	[env.py: 1019]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.168, -0.018)	[env.py: 1079]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg	[env.py: 1082]
-05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:30:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:30:01 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:30:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:30:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.453[m] 88.220[deg]	[grasp_sample.py: 539]
-05/10 14:30:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:30:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:30:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:30:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:30:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:30:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:30:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:30:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:30:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.20s (batch: 4.70s, save: 8.50s)	[pipeline.py: 300]
-05/10 14:30:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s:
-  episode_total: mean=210.91s, total=210.91s, count=1, min=210912.9ms, max=210912.9ms
-  sensor_polling: mean=487.0ms, total=146.09s, count=300, min=458.3ms, max=759.1ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8503.5ms, max=8503.5ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.9ms, max=67.4ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4700.7ms, max=4700.7ms
-  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  task_specific_sample: mean=418.5ms, total=418.5ms, count=1, min=418.5ms, max=418.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=431.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:30:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:30:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029621m	[env.py: 870]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94631909  0.31345635  0.02962057] yaw=166.2deg	[env.py: 1019]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69040675  0.41955552  0.02962057] yaw=182.9deg	[env.py: 1019]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73251442  0.10641662  0.02962057] yaw=157.5deg	[env.py: 1019]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.6ms	[env.py: 1075]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.313, 0.030)	[env.py: 1079]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg	[env.py: 1082]
-05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:30:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:30:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:30:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:30:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:30:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.298[m] 87.165[deg]	[grasp_sample.py: 539]
-05/10 14:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:30:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:30:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:30:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:30:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:30:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:30:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:31:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:31:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:31:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:31:05 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:31:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:31:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:31:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:31:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:31:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:31:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.54s (batch: 4.38s, save: 9.16s)	[pipeline.py: 300]
-05/10 14:31:44 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
-  episode_total: mean=206.47s, total=206.47s, count=1, min=206471.8ms, max=206471.8ms
-  sensor_polling: mean=486.6ms, total=145.97s, count=300, min=452.1ms, max=745.1ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.5ms, max=9162.5ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=17.1ms, max=39.5ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4377.5ms, max=4377.5ms
-  task_sampling: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms
-  task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=467.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:31:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016052m	[env.py: 870]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06149047  0.86727862  0.01605226] yaw=-139.9deg	[env.py: 1019]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85918114  0.149177    0.01605226] yaw=155.2deg	[env.py: 1019]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms	[env.py: 1075]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.867, 0.016)	[env.py: 1079]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
-05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:31:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:31:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:31:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:31:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:31:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:31:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.119[deg]	[grasp_sample.py: 539]
-05/10 14:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:31:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:31:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:31:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:31:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.490[deg]	[grasp_sample.py: 539]
-05/10 14:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:32:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:32:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:32:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:32:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:32:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:32:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]	[grasp_sample.py: 539]
-05/10 14:32:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:32:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:32:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:32:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:32:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:32:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]	[grasp_sample.py: 539]
-05/10 14:32:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:37 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:32:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 14:32:38 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 14:32:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.45s:
-  episode_total: mean=133.72s, total=133.72s, count=1, min=133724.2ms, max=133724.2ms
-  sensor_polling: mean=488.4ms, total=88.89s, count=182, min=464.3ms, max=773.2ms
-  physics_step: mean=21.9ms, total=3.99s, count=182, min=14.1ms, max=34.3ms
-  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
-  task_specific_sample: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:32:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:32:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:32:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:32:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:32:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:32:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036635m	[env.py: 870]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:32:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65488628  0.60990802 -0.03663531] yaw=-176.9deg	[env.py: 1019]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86793302  0.6301593  -0.03663531] yaw=-175.7deg	[env.py: 1019]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6853906   0.26653787 -0.03663531] yaw=159.8deg	[env.py: 1019]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.610, -0.037)	[env.py: 1079]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
-05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:32:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:32:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:32:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:32:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:32:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 88.715[deg]	[grasp_sample.py: 539]
-05/10 14:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:32:42 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.892[deg]	[grasp_sample.py: 539]
-05/10 14:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:32:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010946m	[env.py: 870]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88086928  0.98429046 -0.01094578] yaw=-156.5deg	[env.py: 1019]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87664164  0.79218388 -0.01094578] yaw=-153.2deg	[env.py: 1019]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.7ms	[env.py: 1075]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.984, -0.011)	[env.py: 1079]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:32:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:32:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:32:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:32:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:32:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 95.524[deg]	[grasp_sample.py: 539]
-05/10 14:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:32:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:32:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:32:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:32:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:32:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:33:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:33:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:33:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.29s (batch: 4.32s, save: 8.97s)	[pipeline.py: 300]
-05/10 14:33:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=196.50s, total=196.50s, count=1, min=196501.4ms, max=196501.4ms
-  sensor_polling: mean=490.2ms, total=147.06s, count=300, min=447.4ms, max=709.3ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8972.5ms, max=8972.5ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=15.6ms, max=30.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.9ms, max=4319.9ms
-  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
-  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=411.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:33:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:33:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:33:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:33:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:33:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:33:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:33:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008099m	[env.py: 870]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:33:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93417647  0.67872928  0.00809918] yaw=-167.5deg	[env.py: 1019]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68936237  0.47493719  0.00809918] yaw=187.8deg	[env.py: 1019]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78377112  0.67012814  0.00809918] yaw=-175.4deg	[env.py: 1019]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:33:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=276.3ms, total=276.3ms	[env.py: 1075]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.679, 0.008)	[env.py: 1079]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:33:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:33:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:33:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:33:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 94.479[deg]	[grasp_sample.py: 539]
-05/10 14:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:33:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:33:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:34:18 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:34:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:34:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:34:42 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 14:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:34:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:34:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.36s (batch: 4.30s, save: 9.07s)	[pipeline.py: 300]
-05/10 14:34:56 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
-  episode_total: mean=190.52s, total=190.52s, count=1, min=190515.5ms, max=190515.5ms
-  sensor_polling: mean=487.8ms, total=142.93s, count=293, min=460.5ms, max=834.5ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9066.2ms, max=9066.2ms
-  physics_step: mean=22.7ms, total=6.64s, count=293, min=16.6ms, max=32.5ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.3ms, max=4297.3ms
-  task_sampling: mean=503.9ms, total=503.9ms, count=1, min=503.9ms, max=503.9ms
-  task_specific_sample: mean=500.0ms, total=500.0ms, count=1, min=500.0ms, max=500.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:34:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:34:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:34:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017434m	[env.py: 870]
-05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18606042  0.95908229  0.01743426] yaw=-136.6deg	[env.py: 1019]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9435368   0.4003814   0.01743426] yaw=182.0deg	[env.py: 1019]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94126091  0.7906858   0.01743426] yaw=-149.9deg	[env.py: 1019]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.186, 0.959, 0.017)	[env.py: 1079]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
-05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
-05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:34:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:34:58 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:34:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:34:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:34:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:34:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:34:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:34:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 90.256[deg]	[grasp_sample.py: 539]
-05/10 14:34:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:34:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:34:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:35:20 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:35:21 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:35:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:35:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:35:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:35:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:35:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:35:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:35:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:35:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:35:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:35:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:35:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:35:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.13s (batch: 4.60s, save: 8.53s)	[pipeline.py: 300]
-05/10 14:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:35:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:35:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.91s (batch: 4.18s, save: 8.73s)	[pipeline.py: 300]
-05/10 14:35:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
-  episode_total: mean=177.25s, total=354.50s, count=2, min=162309.4ms, max=192190.2ms
-  sensor_polling: mean=485.8ms, total=280.77s, count=578, min=446.3ms, max=844.8ms
-  physics_step: mean=22.3ms, total=12.87s, count=578, min=16.4ms, max=32.8ms
-  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8530.8ms, max=8530.8ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4603.3ms, max=4603.3ms
-  task_sampling: mean=476.3ms, total=952.7ms, count=2, min=438.5ms, max=514.1ms
-  task_specific_sample: mean=472.7ms, total=945.3ms, count=2, min=434.6ms, max=510.7ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms
-  mj_forward_sync: mean=455.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:35:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
-  episode_total: mean=197.29s, total=197.29s, count=1, min=197293.2ms, max=197293.2ms
-  sensor_polling: mean=499.9ms, total=149.97s, count=300, min=449.1ms, max=819.7ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8726.9ms, max=8726.9ms
-  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.5ms, max=31.6ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.9ms, max=4182.9ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.9ms, total=402.9ms, count=1, min=402.9ms, max=402.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:35:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:35:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:35:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007702m	[env.py: 870]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99620103  1.32097789  0.00770178] yaw=-121.9deg	[env.py: 1019]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05134104  0.86434723  0.00770178] yaw=-150.2deg	[env.py: 1019]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:35:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:35:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:35:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015219m	[env.py: 870]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96141614  0.70340559  0.00770178] yaw=-169.4deg	[env.py: 1019]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms	[env.py: 1075]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.321, 0.008)	[env.py: 1079]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg	[env.py: 1082]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13098431  1.19577288 -0.01521882] yaw=-119.7deg	[env.py: 1019]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73216577  0.68093173 -0.01521882] yaw=-158.3deg	[env.py: 1019]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.8ms	[env.py: 1075]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.196, -0.015)	[env.py: 1079]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.7 deg	[env.py: 1082]
-05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:35:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:35:59 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:36:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:36:00 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:36:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:36:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:36:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.537s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 14:36:01 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 14:36:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.796s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:36:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.471[m] 85.474[deg]	[grasp_sample.py: 539]
-05/10 14:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:36:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038324m	[env.py: 870]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94639114  0.34697009 -0.03832441] yaw=162.8deg	[env.py: 1019]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04735679  0.23419845 -0.03832441] yaw=153.4deg	[env.py: 1019]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03456748  0.70055342 -0.03832441] yaw=-157.4deg	[env.py: 1019]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms	[env.py: 1075]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.347, -0.038)	[env.py: 1079]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
-05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:36:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:36:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:36:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.288[m] 81.968[deg]	[grasp_sample.py: 539]
-05/10 14:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:36:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:36:11 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 14:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.24s (batch: 4.29s, save: 8.95s)	[pipeline.py: 300]
-05/10 14:36:25 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
-  episode_total: mean=190.16s, total=190.16s, count=1, min=190164.7ms, max=190164.7ms
-  sensor_polling: mean=488.7ms, total=144.16s, count=295, min=455.0ms, max=681.2ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8948.3ms, max=8948.3ms
-  physics_step: mean=22.5ms, total=6.64s, count=295, min=16.4ms, max=31.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.2ms, max=4288.2ms
-  task_sampling: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms
-  task_specific_sample: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:36:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:36:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:36:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012607m	[env.py: 870]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02800107  0.74212275 -0.01260679] yaw=-150.2deg	[env.py: 1019]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67419211  0.82398671 -0.01260679] yaw=-169.8deg	[env.py: 1019]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07674616  1.13075256 -0.01260679] yaw=-130.3deg	[env.py: 1019]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms	[env.py: 1075]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.742, -0.013)	[env.py: 1079]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
-05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:36:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:36:27 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:36:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.600s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:36:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.287[m] 83.214[deg]	[grasp_sample.py: 539]
-05/10 14:36:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:36:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:36:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:36:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:36:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:37:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 14:37:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:37:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:37:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:37:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:37:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:37:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:37:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.645[deg]	[grasp_sample.py: 539]
-05/10 14:37:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:37:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:37:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:37:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:37:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:37:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:37:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:37:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.779s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:37:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
-05/10 14:37:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:37:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:37:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:37:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:37:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:37:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:37:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:37:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038666m	[env.py: 870]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:37:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82987378  0.66938852  0.03866634] yaw=-160.9deg	[env.py: 1019]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12425888  0.90465122  0.03866634] yaw=-149.3deg	[env.py: 1019]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9136454   0.80075683  0.03866634] yaw=-161.4deg	[env.py: 1019]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:37:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.8ms, total=252.9ms	[env.py: 1075]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.669, 0.039)	[env.py: 1079]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:37:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:37:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:37:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:37:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:37:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:37:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:37:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.631[deg]	[grasp_sample.py: 539]
-05/10 14:37:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:37:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:37:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:38:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:38:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:38:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.172[deg]	[grasp_sample.py: 539]
-05/10 14:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:38:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:38:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:38:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:38:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:38:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:38:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:38:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.795s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 14:38:40 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 14:38:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:38:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:38:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:38:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:38:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:38:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:38:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002606m	[env.py: 870]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:38:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98120549  0.27533694 -0.00260556] yaw=171.5deg	[env.py: 1019]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77272815  0.03458072 -0.00260556] yaw=164.0deg	[env.py: 1019]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:38:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms	[env.py: 1075]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.275, -0.003)	[env.py: 1079]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg	[env.py: 1082]
-05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:38:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:38:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:38:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:38:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:38:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:38:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:38:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:38:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 93.129[deg]	[grasp_sample.py: 539]
-05/10 14:38:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:38:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:38:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:38:53 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:39:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:39:14 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:39:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:39:14 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/10 14:39:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:39:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:39:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:39:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:39:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:39:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:39:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.57s (batch: 4.25s, save: 8.33s)	[pipeline.py: 300]
-05/10 14:39:27 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
-  episode_total: mean=180.73s, total=180.73s, count=1, min=180734.6ms, max=180734.6ms
-  sensor_polling: mean=491.0ms, total=136.51s, count=278, min=467.2ms, max=763.3ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8325.9ms, max=8325.9ms
-  physics_step: mean=22.7ms, total=6.30s, count=278, min=16.2ms, max=83.8ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.5ms, max=4247.5ms
-  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
-  task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=485.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:39:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:39:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:39:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020273m	[env.py: 870]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01622299  0.73026119  0.02027251] yaw=-169.3deg	[env.py: 1019]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00297186  0.70286383  0.02027251] yaw=-152.9deg	[env.py: 1019]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02887967  0.74812847  0.02027251] yaw=-168.7deg	[env.py: 1019]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.3ms, total=173.3ms	[env.py: 1075]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.730, 0.020)	[env.py: 1079]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.3 deg	[env.py: 1082]
-05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.730m	[env.py: 1086]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:39:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:39:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:39:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:39:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:39:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:39:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.336[m] 96.185[deg]	[grasp_sample.py: 539]
-05/10 14:39:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:39:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:39:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:39:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:39:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:39:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:39:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.29s, save: 9.01s)	[pipeline.py: 300]
-05/10 14:39:39 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.11s:
-  episode_total: mean=109.25s, total=218.51s, count=2, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=503.2ms, total=150.96s, count=300, min=461.8ms, max=942.3ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9012.0ms, max=9012.0ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.7ms, max=33.4ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.2ms, max=4291.2ms
-  task_sampling: mean=556.9ms, total=1.11s, count=2, min=509.2ms, max=604.5ms
-  task_specific_sample: mean=553.4ms, total=1.11s, count=2, min=506.2ms, max=600.6ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.7ms
-  mj_forward_sync: mean=438.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:39:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047996m	[env.py: 870]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7152007   0.72413304  0.04799573] yaw=-160.7deg	[env.py: 1019]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78837347  1.0413213   0.04799573] yaw=-151.7deg	[env.py: 1019]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97122827  0.71199552  0.04799573] yaw=-157.0deg	[env.py: 1019]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms	[env.py: 1075]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.724, 0.048)	[env.py: 1079]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
-05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:39:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:39:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:39:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:39:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:39:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:39:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.028[deg]	[grasp_sample.py: 539]
-05/10 14:39:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:39:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:39:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:14 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:40:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:40:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:40:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:40:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:40:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.539[deg]	[grasp_sample.py: 539]
-05/10 14:40:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:40:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:40:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:40:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:40:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:40:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:40:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:40:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:40:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:40:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.49s (batch: 4.38s, save: 9.11s)	[pipeline.py: 300]
-05/10 14:40:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
-  episode_total: mean=176.31s, total=352.62s, count=2, min=156538.8ms, max=196078.6ms
-  sensor_polling: mean=492.4ms, total=281.15s, count=571, min=455.2ms, max=908.0ms
-  physics_step: mean=22.5ms, total=12.83s, count=571, min=16.6ms, max=34.0ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9112.4ms, max=9112.4ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.6ms, max=4379.6ms
-  task_sampling: mean=538.9ms, total=1.08s, count=2, min=519.6ms, max=558.2ms
-  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=515.1ms, max=553.4ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=2.9ms
-  mj_forward_sync: mean=467.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:40:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:40:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:40:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:40:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:40:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:40:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:40:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:40:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048367m	[env.py: 870]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:40:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94208699  0.32712818 -0.04836731] yaw=178.6deg	[env.py: 1019]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.844587    0.43306064 -0.04836731] yaw=177.3deg	[env.py: 1019]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67235512  0.1475797  -0.04836731] yaw=165.4deg	[env.py: 1019]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:40:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms	[env.py: 1075]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.327, -0.048)	[env.py: 1079]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
-05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:40:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:40:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:40:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:40:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:40:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:40:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:40:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:40:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 88.493[deg]	[grasp_sample.py: 539]
-05/10 14:40:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:40:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:40:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:40:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:41:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:41:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:41:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:41:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:42:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:42:10 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:42:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:42:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:42:18 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:42:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:42:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:42:23 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 14:42:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:42:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:42:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.56s (batch: 4.58s, save: 8.98s)	[pipeline.py: 300]
-05/10 14:42:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
-  episode_total: mean=191.44s, total=382.89s, count=2, min=161306.8ms, max=221582.0ms
-  sensor_polling: mean=487.0ms, total=282.94s, count=581, min=442.6ms, max=881.8ms
-  physics_step: mean=23.1ms, total=13.40s, count=581, min=15.9ms, max=34.9ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.9ms, max=8978.9ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4577.2ms, max=4577.2ms
-  task_sampling: mean=531.5ms, total=1.06s, count=2, min=507.4ms, max=555.6ms
-  task_specific_sample: mean=526.9ms, total=1.05s, count=2, min=503.4ms, max=550.3ms
-  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=1.8ms, max=3.6ms
-  mj_forward_sync: mean=656.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:42:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:42:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040164m	[env.py: 870]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91860807  0.6837335  -0.04016364] yaw=-154.2deg	[env.py: 1019]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98049687  1.07987155 -0.04016364] yaw=-139.1deg	[env.py: 1019]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97498158  0.12472045 -0.04016364] yaw=147.8deg	[env.py: 1019]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.684, -0.040)	[env.py: 1079]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
-05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:42:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:42:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:42:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:42:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:42:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 85.977[deg]	[grasp_sample.py: 539]
-05/10 14:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:42:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:42:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.21s (batch: 4.21s, save: 10.00s)	[pipeline.py: 300]
-05/10 14:42:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
-  episode_total: mean=188.57s, total=188.57s, count=1, min=188567.1ms, max=188567.1ms
-  sensor_polling: mean=490.6ms, total=141.29s, count=288, min=455.0ms, max=692.6ms
-  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9997.3ms, max=9997.3ms
-  physics_step: mean=23.2ms, total=6.68s, count=288, min=17.1ms, max=35.3ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.0ms, max=4211.0ms
-  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
-  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=433.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:42:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:42:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014618m	[env.py: 870]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68837046  0.40970926 -0.01461789] yaw=178.3deg	[env.py: 1019]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80869465  0.83185284 -0.01461789] yaw=-154.2deg	[env.py: 1019]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86752704  0.34859691 -0.01461789] yaw=167.4deg	[env.py: 1019]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms	[env.py: 1075]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.410, -0.015)	[env.py: 1079]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg	[env.py: 1082]
-05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:42:40 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:42:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:42:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:42:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:42:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:42:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:42:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.579[m] 90.968[deg]	[grasp_sample.py: 539]
-05/10 14:42:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:42:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:42:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:42:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:42:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:42:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.60s (batch: 4.00s, save: 8.60s)	[pipeline.py: 300]
-05/10 14:42:53 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=192.42s, total=192.42s, count=1, min=192418.3ms, max=192418.3ms
-  sensor_polling: mean=486.7ms, total=146.00s, count=300, min=453.4ms, max=782.1ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.1ms, max=8598.1ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=15.9ms, max=33.1ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.5ms, max=3998.5ms
-  task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms
-  task_specific_sample: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:42:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:42:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:42:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:42:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:42:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010917m	[env.py: 870]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:42:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89600913  0.07261128  0.01091664] yaw=159.2deg	[env.py: 1019]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97630165  1.09410924  0.01091664] yaw=-139.7deg	[env.py: 1019]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91390666  1.21154717  0.01091664] yaw=-148.1deg	[env.py: 1019]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:42:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.073, 0.011)	[env.py: 1079]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
-05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:42:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:42:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:42:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:42:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:42:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:42:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:42:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.470[m] 87.830[deg]	[grasp_sample.py: 539]
-05/10 14:42:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:42:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:42:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:43:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:30 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:43:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:43:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:43:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:43:53 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:43:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:43:53 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 14:43:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:44:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:44:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:44:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.09s (batch: 4.34s, save: 8.75s)	[pipeline.py: 300]
-05/10 14:44:07 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
-  episode_total: mean=193.72s, total=193.72s, count=1, min=193724.3ms, max=193724.3ms
-  sensor_polling: mean=496.9ms, total=145.59s, count=293, min=455.8ms, max=860.6ms
-  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.9ms, max=8749.9ms
-  physics_step: mean=24.2ms, total=7.08s, count=293, min=15.9ms, max=36.8ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.7ms, max=4340.7ms
-  task_sampling: mean=595.0ms, total=595.0ms, count=1, min=595.0ms, max=595.0ms
-  task_specific_sample: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:44:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:44:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:44:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028981m	[env.py: 870]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86825003  0.17066027 -0.02898124] yaw=148.1deg	[env.py: 1019]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02683912  1.27200356 -0.02898124] yaw=-138.6deg	[env.py: 1019]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64644395  0.62389012 -0.02898124] yaw=-171.9deg	[env.py: 1019]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms	[env.py: 1075]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.171, -0.029)	[env.py: 1079]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg	[env.py: 1082]
-05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:44:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:44:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:44:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:44:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:44:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:44:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:44:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 79.009[deg]	[grasp_sample.py: 539]
-05/10 14:44:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:44:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:44:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:44:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:44:58 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:45:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:45:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:15 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:45:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:45:21 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 14:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:45:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:45:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:45:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:45:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:45:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:45:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.114[deg]	[grasp_sample.py: 539]
-05/10 14:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:45:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:45:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:45:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:45:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.27s (batch: 4.19s, save: 9.08s)	[pipeline.py: 300]
-05/10 14:45:34 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
-  episode_total: mean=188.89s, total=188.89s, count=1, min=188893.3ms, max=188893.3ms
-  sensor_polling: mean=477.3ms, total=142.72s, count=299, min=444.5ms, max=731.4ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9076.9ms, max=9076.9ms
-  physics_step: mean=21.9ms, total=6.54s, count=299, min=15.7ms, max=31.4ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.7ms, max=4190.7ms
-  task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
-  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=503.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:45:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:45:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:45:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:45:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:45:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035315m	[env.py: 870]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64235004  0.6695952   0.03531469] yaw=-167.3deg	[env.py: 1019]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91748042  1.11715826  0.03531469] yaw=-141.0deg	[env.py: 1019]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92882063  0.88918645  0.03531469] yaw=-150.3deg	[env.py: 1019]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.1ms	[env.py: 1075]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.670, 0.035)	[env.py: 1079]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
-05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:45:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:45:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:45:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:45:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:45:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 14:45:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:45:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:45:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 94.505[deg]	[grasp_sample.py: 539]
-05/10 14:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:45:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:45:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:45:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:45:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:45:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:45:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:45:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.78s (batch: 4.91s, save: 8.87s)	[pipeline.py: 300]
-05/10 14:45:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s:
-  episode_total: mean=192.25s, total=192.25s, count=1, min=192250.3ms, max=192250.3ms
-  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=450.0ms, max=643.3ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.2ms, max=8869.2ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.4ms, max=30.8ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4910.1ms, max=4910.1ms
-  task_sampling: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
-  task_specific_sample: mean=522.3ms, total=522.3ms, count=1, min=522.3ms, max=522.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:45:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:45:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:45:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:45:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:45:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039477m	[env.py: 870]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13657809  1.09979939 -0.03947692] yaw=-122.6deg	[env.py: 1019]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73445149  0.90373671 -0.03947692] yaw=-167.8deg	[env.py: 1019]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95759567  0.13257738 -0.03947692] yaw=159.8deg	[env.py: 1019]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms	[env.py: 1075]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.100, -0.039)	[env.py: 1079]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.6 deg	[env.py: 1082]
-05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:45:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:45:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:45:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:45:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:45:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:45:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:45:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:45:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.448[m] 94.278[deg]	[grasp_sample.py: 539]
-05/10 14:45:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:45:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:45:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:08 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:46:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:46:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:46:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:46:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:46:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.39s, save: 8.46s)	[pipeline.py: 300]
-05/10 14:46:22 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s:
-  episode_total: mean=206.86s, total=206.86s, count=1, min=206856.9ms, max=206856.9ms
-  sensor_polling: mean=492.3ms, total=147.69s, count=300, min=459.7ms, max=745.7ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.5ms, max=8455.5ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=15.0ms, max=67.6ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.0ms, max=4389.0ms
-  task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
-  task_specific_sample: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:46:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:46:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:46:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043753m	[env.py: 870]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97863391  1.13654014  0.04375263] yaw=-138.5deg	[env.py: 1019]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89901587  0.53250508  0.04375263] yaw=-184.8deg	[env.py: 1019]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81839762  0.19170031  0.04375263] yaw=159.2deg	[env.py: 1019]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.1ms, total=85.1ms	[env.py: 1075]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 1.137, 0.044)	[env.py: 1079]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg	[env.py: 1082]
-05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:46:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:46:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:46:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:46:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:46:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:46:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:46:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.774s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:46:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 83.118[deg]	[grasp_sample.py: 539]
-05/10 14:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:46:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:46:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:46:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:46:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:46:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:46:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:46:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:46:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.240[deg]	[grasp_sample.py: 539]
-05/10 14:46:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:46:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:46:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:46:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:46:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:46:59 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:47:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:47:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:47:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:47:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:47:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:47:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:47:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:47:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:47:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.32s (batch: 4.45s, save: 8.87s)	[pipeline.py: 300]
-05/10 14:47:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s:
-  episode_total: mean=206.49s, total=206.49s, count=1, min=206492.6ms, max=206492.6ms
-  sensor_polling: mean=497.3ms, total=149.20s, count=300, min=454.8ms, max=804.0ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.6ms, max=8874.6ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=14.8ms, max=40.3ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4446.0ms, max=4446.0ms
-  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
-  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:47:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:47:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:47:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:47:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013990m	[env.py: 870]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94111771  0.2792047   0.01399007] yaw=176.5deg	[env.py: 1019]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92634904  0.78002253  0.01399007] yaw=-155.3deg	[env.py: 1019]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04438286  1.0654504   0.01399007] yaw=-138.3deg	[env.py: 1019]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms	[env.py: 1075]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.279, 0.014)	[env.py: 1079]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg	[env.py: 1082]
-05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:47:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:47:38 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:47:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:47:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:47:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:47:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:47:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.334[m] 85.326[deg]	[grasp_sample.py: 539]
-05/10 14:47:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:47:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:47:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:14 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:48:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:48:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:48:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:48:22 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.779[deg]	[grasp_sample.py: 539]
-05/10 14:48:24 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:48:26 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 14:48:26 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 14:48:26 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
-05/10 14:48:26 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4666.86s
-  House averages:
-  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
-  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
-  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
-  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
-  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
-  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
-  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
-  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 14:48:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 14:48:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4666.86s
-  Worker averages:
-  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
-  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
-  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
-  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
-  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
-  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
-  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
-  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 14:48:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:48:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 14:48:29 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
-05/10 14:48:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 14:48:35 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:48:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:48:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:48:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:48:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:48:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:48:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:48:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:48:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.04s, save: 7.88s)	[pipeline.py: 300]
-05/10 14:48:48 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.54s:
-  episode_total: mean=191.58s, total=191.58s, count=1, min=191584.7ms, max=191584.7ms
-  sensor_polling: mean=489.2ms, total=146.76s, count=300, min=451.6ms, max=765.6ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7876.0ms, max=7876.0ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.3ms, max=32.7ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
-  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
-  task_specific_sample: mean=538.5ms, total=538.5ms, count=1, min=538.5ms, max=538.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=484.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:48:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.738s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:48:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.845[deg]	[grasp_sample.py: 539]
-05/10 14:48:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:48:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:48:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:48:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:48:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:48:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048929m	[env.py: 870]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03589347  1.22923157 -0.0489295 ] yaw=-126.2deg	[env.py: 1019]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77711352  0.7059697  -0.0489295 ] yaw=-165.8deg	[env.py: 1019]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90467479  0.22625358 -0.0489295 ] yaw=170.3deg	[env.py: 1019]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms	[env.py: 1075]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.229, -0.049)	[env.py: 1079]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.2 deg	[env.py: 1082]
-05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:48:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:48:50 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:48:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:48:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:48:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.798s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:48:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.607[m] 88.091[deg]	[grasp_sample.py: 539]
-05/10 14:48:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:48:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:48:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:08 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:49:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:49:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:49:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:49:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:49:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:49:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]	[grasp_sample.py: 539]
-05/10 14:49:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:49:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:49:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:49:29 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:49:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:49:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:49:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:49:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:49:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:49:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.51s (batch: 4.26s, save: 8.25s)	[pipeline.py: 300]
-05/10 14:49:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.39s:
-  episode_total: mean=199.07s, total=199.07s, count=1, min=199073.6ms, max=199073.6ms
-  sensor_polling: mean=475.1ms, total=142.54s, count=300, min=428.7ms, max=731.6ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8254.0ms, max=8254.0ms
-  physics_step: mean=22.4ms, total=6.73s, count=300, min=15.4ms, max=46.0ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.9ms, max=4259.9ms
-  task_sampling: mean=385.1ms, total=385.1ms, count=1, min=385.1ms, max=385.1ms
-  task_specific_sample: mean=381.6ms, total=381.6ms, count=1, min=381.6ms, max=381.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=405.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:49:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:49:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:49:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:49:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:49:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:49:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047469m	[env.py: 870]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01541936  0.8555137  -0.04746936] yaw=-155.4deg	[env.py: 1019]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98916372  0.57554387 -0.04746936] yaw=-183.5deg	[env.py: 1019]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90397745  1.13141531 -0.04746936] yaw=-132.7deg	[env.py: 1019]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms	[env.py: 1075]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.856, -0.047)	[env.py: 1079]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
-05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:49:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:49:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:49:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:49:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:49:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:49:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 99.417[deg]	[grasp_sample.py: 539]
-05/10 14:49:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:49:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:49:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:49:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:50:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 14:50:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:50:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:50:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:50:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:50:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:50:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.651[deg]	[grasp_sample.py: 539]
-05/10 14:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:50:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:50:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:50:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:50:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:50:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:50:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:50:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:50:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:50:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:51:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:51:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:51:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:51:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:51:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.68s (batch: 4.21s, save: 8.47s)	[pipeline.py: 300]
-05/10 14:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:51:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:51:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:51:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
-  episode_total: mean=224.29s, total=224.29s, count=1, min=224291.1ms, max=224291.1ms
-  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=441.3ms, max=742.6ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.4ms, max=8469.4ms
-  physics_step: mean=23.1ms, total=6.94s, count=300, min=13.1ms, max=36.0ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.7ms, max=4213.7ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:51:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.713s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:51:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.093[m] 0.792[deg]	[grasp_sample.py: 539]
-05/10 14:51:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:51:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:51:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:51:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:51:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:51:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:51:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:51:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041555m	[env.py: 870]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:51:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95544721  0.89367978 -0.04155475] yaw=-150.0deg	[env.py: 1019]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96929981  1.19142222 -0.04155475] yaw=-146.5deg	[env.py: 1019]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82116976  0.52878201 -0.04155475] yaw=-176.6deg	[env.py: 1019]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:51:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1075]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.894, -0.042)	[env.py: 1079]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
-05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:51:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:51:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:51:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:51:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:51:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:51:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:51:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:51:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:51:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:51:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 88.868[deg]	[grasp_sample.py: 539]
-05/10 14:51:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:51:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:51:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:51:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:51:34 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 14:51:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.43s:
-  episode_total: mean=165.01s, total=165.01s, count=1, min=165008.7ms, max=165008.7ms
-  sensor_polling: mean=468.6ms, total=140.58s, count=300, min=420.4ms, max=814.2ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=15.7ms, max=32.3ms
-  task_sampling: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms
-  task_specific_sample: mean=424.0ms, total=424.0ms, count=1, min=424.0ms, max=424.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=410.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:51:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:51:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:51:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:51:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029318m	[env.py: 870]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85614341  0.89880259 -0.02931802] yaw=-156.2deg	[env.py: 1019]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88844757  0.15064232 -0.02931802] yaw=167.5deg	[env.py: 1019]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81690903  0.60588697 -0.02931802] yaw=-172.2deg	[env.py: 1019]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=107.9ms	[env.py: 1075]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.899, -0.029)	[env.py: 1079]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg	[env.py: 1082]
-05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:51:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:51:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:51:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:51:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:51:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.510[m] 87.538[deg]	[grasp_sample.py: 539]
-05/10 14:51:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:52:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:52:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:52:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:52:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:52:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:52:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:52:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:52:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:52:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:52:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:52:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:52:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:52:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.56s (batch: 3.99s, save: 8.57s)	[pipeline.py: 300]
-05/10 14:52:49 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
-  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.5ms, max=184663.5ms
-  sensor_polling: mean=463.9ms, total=139.16s, count=300, min=434.8ms, max=745.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8569.8ms, max=8569.8ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=18.6ms, max=30.7ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.8ms, max=3992.8ms
-  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
-  task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:52:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:52:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:52:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:52:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:52:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048248m	[env.py: 870]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82212884  0.5330823  -0.04824771] yaw=-175.7deg	[env.py: 1019]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99932792  0.87625488 -0.04824771] yaw=-145.8deg	[env.py: 1019]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90665121  0.26023344 -0.04824771] yaw=175.8deg	[env.py: 1019]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.7ms, total=158.7ms	[env.py: 1075]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.533, -0.048)	[env.py: 1079]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
-05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:52:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:52:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:52:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:52:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:52:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:52:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:52:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:52:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 86.762[deg]	[grasp_sample.py: 539]
-05/10 14:52:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:52:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:52:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:53:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:53:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:53:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:53:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:54:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:54:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:54:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:54:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:54:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:54:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:54:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:54:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:54:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:54:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.73s (batch: 4.28s, save: 8.46s)	[pipeline.py: 300]
-05/10 14:54:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=187.11s, total=187.11s, count=1, min=187114.1ms, max=187114.1ms
-  sensor_polling: mean=470.8ms, total=141.24s, count=300, min=435.9ms, max=771.3ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8457.0ms, max=8457.0ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=18.8ms, max=33.6ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.5ms, max=4276.5ms
-  task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
-  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:54:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:54:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:54:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:54:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:54:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:54:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:54:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002977m	[env.py: 870]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:54:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95900184  0.7792959   0.00297682] yaw=-160.2deg	[env.py: 1019]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23991714  1.05451995  0.00297682] yaw=-121.8deg	[env.py: 1019]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71841063  0.66829297  0.00297682] yaw=-176.1deg	[env.py: 1019]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:54:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.9ms, total=105.9ms	[env.py: 1075]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.779, 0.003)	[env.py: 1079]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
-05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:54:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:54:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.597s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:54:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 87.125[deg]	[grasp_sample.py: 539]
-05/10 14:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:54:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:54:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:54:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.65s (batch: 3.90s, save: 8.75s)	[pipeline.py: 300]
-05/10 14:54:34 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=178.31s, total=178.31s, count=1, min=178312.1ms, max=178312.1ms
-  sensor_polling: mean=446.4ms, total=133.93s, count=300, min=422.6ms, max=741.6ms
-  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8750.8ms, max=8750.8ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.8ms, max=29.8ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.3ms, max=3903.3ms
-  task_sampling: mean=368.6ms, total=368.6ms, count=1, min=368.6ms, max=368.6ms
-  task_specific_sample: mean=365.0ms, total=365.0ms, count=1, min=365.0ms, max=365.0ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:54:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:54:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:54:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:54:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:54:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:54:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:54:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013912m	[env.py: 870]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:54:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67793815  0.1859976  -0.01391195] yaw=160.3deg	[env.py: 1019]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10391666  1.12199953 -0.01391195] yaw=-131.4deg	[env.py: 1019]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:54:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms	[env.py: 1075]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.186, -0.014)	[env.py: 1079]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg	[env.py: 1082]
-05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:54:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:54:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:54:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:54:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:54:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.633[m] 91.481[deg]	[grasp_sample.py: 539]
-05/10 14:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:54:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:54:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:55:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:55:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:55:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:55:42 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:55:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 14:55:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:55:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:55:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:55:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:55:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:55:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.46s (batch: 4.11s, save: 8.36s)	[pipeline.py: 300]
-05/10 14:55:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
-  episode_total: mean=184.73s, total=184.73s, count=1, min=184734.9ms, max=184734.9ms
-  sensor_polling: mean=461.9ms, total=138.58s, count=300, min=424.6ms, max=752.7ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.8ms, max=8356.8ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.1ms, max=38.0ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.8ms, max=4107.8ms
-  task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms
-  task_specific_sample: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:55:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:55:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:55:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:55:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:55:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:55:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:55:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012420m	[env.py: 870]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:55:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05874849  1.07540036 -0.01242026] yaw=-136.5deg	[env.py: 1019]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82287514  0.52664149 -0.01242026] yaw=-167.6deg	[env.py: 1019]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98719447  1.09050792 -0.01242026] yaw=-135.3deg	[env.py: 1019]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms	[env.py: 1075]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.075, -0.012)	[env.py: 1079]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg	[env.py: 1082]
-05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:55:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:55:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:55:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:55:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:55:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:55:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 84.322[deg]	[grasp_sample.py: 539]
-05/10 14:55:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:55:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:55:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:56:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:56:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:56:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:57:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:57:02 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:57:22 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 14:57:22 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 14:57:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 14:57:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 14:57:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 14:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:57:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:57:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.07s, save: 7.84s)	[pipeline.py: 300]
-05/10 14:57:34 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
-  episode_total: mean=182.78s, total=182.78s, count=1, min=182783.1ms, max=182783.1ms
-  sensor_polling: mean=464.4ms, total=138.85s, count=299, min=425.5ms, max=780.9ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7844.3ms, max=7844.3ms
-  physics_step: mean=21.3ms, total=6.37s, count=299, min=15.9ms, max=61.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.0ms, max=4065.0ms
-  task_sampling: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
-  task_specific_sample: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:57:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 14:57:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 14:57:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.75s (batch: 3.98s, save: 7.77s)	[pipeline.py: 300]
-05/10 14:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:57:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:57:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:57:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:57:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004876m	[env.py: 870]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73702545 -0.04230718 -0.00487609] yaw=159.7deg	[env.py: 1019]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77181166  0.22294962 -0.00487609] yaw=171.2deg	[env.py: 1019]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02525252  0.90440586 -0.00487609] yaw=-144.0deg	[env.py: 1019]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=196.0ms	[env.py: 1075]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, -0.042, -0.005)	[env.py: 1079]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
-05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:57:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:57:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.7ms, max=180369.7ms
-  sensor_polling: mean=449.3ms, total=134.79s, count=300, min=405.3ms, max=722.2ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=18.3ms, max=33.3ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.3ms, max=3979.3ms
-  task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms
-  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 14:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:57:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011070m	[env.py: 870]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76531663  0.54643994 -0.01107041] yaw=-174.0deg	[env.py: 1019]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02427755  0.69886144 -0.01107041] yaw=-151.9deg	[env.py: 1019]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01058704  0.78430932 -0.01107041] yaw=-159.6deg	[env.py: 1019]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.9ms, total=102.9ms	[env.py: 1075]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.546, -0.011)	[env.py: 1079]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
-05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:57:38 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:57:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:57:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:57:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.969s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:57:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.696[m] 98.445[deg]	[grasp_sample.py: 539]
-05/10 14:57:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:57:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 82.719[deg]	[grasp_sample.py: 539]
-05/10 14:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:57:40 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:57:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 14:57:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 14:57:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 14:57:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 14:57:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 14:57:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044591m	[env.py: 870]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 14:57:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92352401  0.23366161 -0.04459072] yaw=155.5deg	[env.py: 1019]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02124422  0.23782475 -0.04459072] yaw=155.3deg	[env.py: 1019]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06467265  1.20860982 -0.04459072] yaw=-138.8deg	[env.py: 1019]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 14:57:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms	[env.py: 1075]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.234, -0.045)	[env.py: 1079]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg	[env.py: 1082]
-05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 14:57:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 14:57:42 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 14:57:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 14:57:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:57:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:57:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:57:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:57:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 96.384[deg]	[grasp_sample.py: 539]
-05/10 14:57:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 14:57:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 14:57:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 14:58:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 14:58:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 14:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 14:58:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 14:58:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 14:58:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 14:58:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.367[deg]	[grasp_sample.py: 539]
-05/10 14:58:10 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 14:58:12 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 14:58:12 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 14:58:12 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/10 14:58:12 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5767.08s
-  House averages:
-  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
-  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
-  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
-  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
-  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
-  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 14:58:12 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 14:58:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5767.08s
-  Worker averages:
-  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
-  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
-  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
-  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
-  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
-  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 14:58:14 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 14:58:14 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/10 14:58:14 INFO: Success rate: 92.31%	[pipeline.py: 1492]
-05/10 14:58:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:58:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 14:58:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:58:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 14:59:44 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 14:59:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:00:04 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 15:00:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:00:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:00:12 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
-05/10 15:00:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:00:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 15:00:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 10.57s (batch: 3.30s, save: 7.27s)	[pipeline.py: 300]
-05/10 15:00:15 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
-  episode_total: mean=157.52s, total=157.52s, count=1, min=157519.9ms, max=157519.9ms
-  sensor_polling: mean=390.0ms, total=117.00s, count=300, min=361.6ms, max=687.6ms
-  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7268.7ms, max=7268.7ms
-  physics_step: mean=19.6ms, total=5.87s, count=300, min=16.7ms, max=39.0ms
-  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3302.6ms, max=3302.6ms
-  task_sampling: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
-  task_specific_sample: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:00:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 15:00:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 15:00:17 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes	[pipeline.py: 1323]
-05/10 15:00:17 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5962.38s
-  House averages:
-  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
-  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
-  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
-  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
-  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
-  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
-  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:00:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:00:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5962.38s
-  Worker averages:
-  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
-  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
-  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
-  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
-  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
-  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
-  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:00:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:00:19 INFO: Success count: 12, Total count: 14	[pipeline.py: 1491]
-05/10 15:00:19 INFO: Success rate: 85.71%	[pipeline.py: 1492]
-05/10 15:00:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:00:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
-05/10 15:00:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 10.77s (batch: 3.12s, save: 7.65s)	[pipeline.py: 300]
-05/10 15:00:23 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.88s:
-  episode_total: mean=82.91s, total=165.83s, count=2, min=4147.1ms, max=161678.7ms
-  sensor_polling: mean=400.6ms, total=120.19s, count=300, min=364.5ms, max=670.3ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.8ms, max=7647.8ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.5ms, max=23.4ms
-  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3123.6ms, max=3123.6ms
-  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=432.6ms, max=452.2ms
-  task_specific_sample: mean=438.7ms, total=877.3ms, count=2, min=428.9ms, max=448.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=530.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:00:24 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 15:00:24 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
-05/10 15:00:24 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes	[pipeline.py: 1323]
-05/10 15:00:24 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5967.73s
-  House averages:
-  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
-  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
-  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
-  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
-  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
-  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
-  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:00:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:00:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5967.73s
-  Worker averages:
-  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
-  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
-  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
-  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
-  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
-  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
-  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:00:26 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:00:26 INFO: Success count: 15, Total count: 15	[pipeline.py: 1491]
-05/10 15:00:26 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_001/shard_1_of_4.log b/fridge_7/chunk_001/shard_1_of_4.log
deleted file mode 100644
index eba964099912de91955cfdc29c54cd4f7989ed44..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_001/shard_1_of_4.log
+++ /dev/null
@@ -1,1855 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
-  shard=1/4  seed=20101  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7dd88b4c1650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20101,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 138369000079760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138369000079760 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 138369000079760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138369000079760 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 138369003369936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138369003369936 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138369003356880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138369003356880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138369003356880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138369003356880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138369003369936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138369003369936 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138369006826576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138369006826576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138369006825616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138369006825616 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 138369006825616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138369006825616 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138369006826576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138369006826576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 14:05:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f8eb1110320 at 0x7dd88b9e6ad0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f8eb1111a90 at 0x7dd88b9f2210>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f8eb1111a90 at 0x7dd88b978a10>
-[05/10 14:05:56 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)
-[05/10 14:05:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:05:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:05:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011514m
-[05/10 14:05:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:05:56 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 14:05:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07567045  1.09650577 -0.01151361] yaw=-138.9deg
-[05/10 14:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04602455  1.19521146 -0.01151361] yaw=-138.6deg
-[05/10 14:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:05:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:05:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.9ms, retries=177.7ms, total=192.7ms
-[05/10 14:05:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.097, -0.012)
-[05/10 14:05:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg
-[05/10 14:05:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 14:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.691s
-[05/10 14:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 14:06:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: True
-[05/10 14:06:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.473[m] 88.425[deg]
-[05/10 14:06:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 14:08:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.632s, found feasible grasp: True
-[05/10 14:08:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.778[deg]
-[05/10 14:08:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:08:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:08:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:08:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)
-[05/10 14:08:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:08:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:08:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023508m
-[05/10 14:08:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:08:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:08:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65319517  0.23237847 -0.02350847] yaw=164.6deg
-[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72042623  0.42141276 -0.02350847] yaw=183.0deg
-[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84320424  1.04817665 -0.02350847] yaw=-153.5deg
-[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:08:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:08:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms
-[05/10 14:08:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.232, -0.024)
-[05/10 14:08:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg
-[05/10 14:08:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:08:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:08:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 14:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 14:08:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:08:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:08:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 14:08:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True
-[05/10 14:08:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.674[m] 101.224[deg]
-[05/10 14:08:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:11:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 14:11:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:11:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:11:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:12:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 14:12:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:12:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.99s (batch: 3.43s, save: 8.55s)
-[05/10 14:12:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.34s:
-  episode_total: mean=187.41s, total=374.83s, count=2, min=181968.0ms, max=192860.4ms
-  sensor_polling: mean=464.4ms, total=267.48s, count=576, min=435.7ms, max=684.0ms
-  physics_step: mean=22.3ms, total=12.85s, count=576, min=15.7ms, max=49.2ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8554.5ms, max=8554.5ms
-  task_sampling: mean=2.17s, total=4.34s, count=2, min=426.8ms, max=3910.8ms
-  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.6ms, max=3434.6ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  task_specific_sample: mean=478.0ms, total=956.0ms, count=2, min=423.2ms, max=532.8ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms
-  mj_forward_sync: mean=623.6us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
-  policy_setup: mean=26.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:12:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:12:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 14:12:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:12:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:12:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035267m
-[05/10 14:12:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:12:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:12:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74395368  0.59498521  0.03526688] yaw=-174.7deg
-[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70476241  0.85947836  0.03526688] yaw=-161.8deg
-[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86302923  0.41363316  0.03526688] yaw=176.3deg
-[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:12:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:12:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms
-[05/10 14:12:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.595, 0.035)
-[05/10 14:12:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
-[05/10 14:12:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:12:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 14:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 14:12:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:12:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:12:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 14:12:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
-[05/10 14:12:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.523[deg]
-[05/10 14:12:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:13:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:14:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:15:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:15:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:15:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:15:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:15:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:15:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.93s (batch: 4.47s, save: 8.46s)
-[05/10 14:15:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
-  episode_total: mean=188.15s, total=188.15s, count=1, min=188147.8ms, max=188147.8ms
-  sensor_polling: mean=475.8ms, total=142.73s, count=300, min=451.5ms, max=844.0ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.9ms, max=8458.9ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=16.5ms, max=30.6ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4472.0ms, max=4472.0ms
-  task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms
-  task_specific_sample: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=493.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:15:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:15:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/10 14:15:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:15:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:15:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003836m
-[05/10 14:15:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:15:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:15:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:15:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07203263  1.02068654  0.00383565] yaw=-141.0deg
-[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70530599  0.83474812  0.00383565] yaw=-166.7deg
-[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85919908  0.66731778  0.00383565] yaw=-178.5deg
-[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:15:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:15:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms
-[05/10 14:15:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.021, 0.004)
-[05/10 14:15:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
-[05/10 14:15:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.829m
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:15:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 14:15:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 14:15:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:15:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:15:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 14:15:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/10 14:15:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.375[m] 84.383[deg]
-[05/10 14:15:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:16:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:17:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:17:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:17:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:17:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:17:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/10 14:17:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True
-[05/10 14:17:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]
-[05/10 14:17:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:17:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:17:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:17:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:17:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:17:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:17:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:17:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 14:17:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:17:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:17:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038383m
-[05/10 14:17:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:17:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:17:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:17:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60971682  0.5733481   0.03838331] yaw=-174.7deg
-[05/10 14:17:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80833115  0.63032623  0.03838331] yaw=-172.9deg
-[05/10 14:18:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:18:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80321012  0.0394085   0.03838331] yaw=148.3deg
-[05/10 14:18:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:18:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:18:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=387.9ms, total=387.9ms
-[05/10 14:18:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.573, 0.038)
-[05/10 14:18:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
-[05/10 14:18:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
-[05/10 14:18:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:18:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:18:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:18:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:18:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:18:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 14:18:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 14:18:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:18:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:18:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 14:18:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.208s, found feasible grasp: True
-[05/10 14:18:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.172[deg]
-[05/10 14:18:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:19:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:20:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:20:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:20:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:20:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:21:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:21:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:21:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.56s, save: 8.28s)
-[05/10 14:21:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.19s:
-  episode_total: mean=174.32s, total=348.64s, count=2, min=156498.6ms, max=192143.2ms
-  sensor_polling: mean=479.9ms, total=275.46s, count=574, min=444.5ms, max=844.8ms
-  physics_step: mean=22.4ms, total=12.84s, count=574, min=15.7ms, max=33.6ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8275.3ms, max=8275.3ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.7ms, max=4559.7ms
-  task_sampling: mean=594.5ms, total=1.19s, count=2, min=408.7ms, max=780.3ms
-  task_specific_sample: mean=590.6ms, total=1.18s, count=2, min=404.8ms, max=776.3ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
-  mj_forward_sync: mean=541.1us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:21:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:21:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:21:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/10 14:21:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:21:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:21:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035715m
-[05/10 14:21:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:21:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:21:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17456842  1.00305834  0.03571494] yaw=-140.7deg
-[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9937009   0.64250918  0.03571494] yaw=-172.3deg
-[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92664416  1.21694769  0.03571494] yaw=-139.1deg
-[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:21:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:21:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.9ms, total=117.9ms
-[05/10 14:21:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.003, 0.036)
-[05/10 14:21:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg
-[05/10 14:21:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.742m
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:21:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:21:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 14:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 14:21:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:21:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:21:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 14:21:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True
-[05/10 14:21:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.314[m] 86.943[deg]
-[05/10 14:21:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:23:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:23:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
-[05/10 14:23:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.806s, found feasible grasp: True
-[05/10 14:23:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.354[deg]
-[05/10 14:23:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:23:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:23:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
-[05/10 14:23:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:23:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:23:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014895m
-[05/10 14:23:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:23:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:23:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89084892  0.33911941 -0.01489474] yaw=174.0deg
-[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04754105  0.91572204 -0.01489474] yaw=-153.0deg
-[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66163747  0.48259597 -0.01489474] yaw=-170.2deg
-[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:23:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:23:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms
-[05/10 14:23:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.339, -0.015)
-[05/10 14:23:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg
-[05/10 14:23:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:23:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 14:23:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 14:23:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:23:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:23:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 14:23:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/10 14:23:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.484[deg]
-[05/10 14:23:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:23:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:23:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:26:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:26:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:26:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 14:26:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:26:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.33s (batch: 4.43s, save: 8.90s)
-[05/10 14:26:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s:
-  episode_total: mean=167.60s, total=335.20s, count=2, min=146130.6ms, max=189065.2ms
-  sensor_polling: mean=477.5ms, total=265.97s, count=557, min=445.3ms, max=805.4ms
-  physics_step: mean=22.7ms, total=12.62s, count=557, min=15.0ms, max=35.9ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.2ms, max=8904.2ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
-  task_sampling: mean=411.3ms, total=822.6ms, count=2, min=391.4ms, max=431.2ms
-  task_specific_sample: mean=407.3ms, total=814.6ms, count=2, min=387.6ms, max=427.0ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.1ms, max=2.7ms
-  mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:26:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:26:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 14:26:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:26:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:26:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007580m
-[05/10 14:26:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:26:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:26:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995477  0.26413738  0.00757984] yaw=174.7deg
-[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04159775  0.24403971  0.00757984] yaw=162.0deg
-[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06960744  1.01922807  0.00757984] yaw=-146.4deg
-[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:26:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:26:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.1ms
-[05/10 14:26:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.264, 0.008)
-[05/10 14:26:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg
-[05/10 14:26:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:26:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 14:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 14:26:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:26:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:26:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:26:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True
-[05/10 14:26:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.698[deg]
-[05/10 14:26:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:27:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:28:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:28:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:28:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:28:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:28:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:28:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:28:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 14:28:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.595s, found feasible grasp: True
-[05/10 14:28:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.526[deg]
-[05/10 14:28:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:29:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:30:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:30:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:30:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:30:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:30:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:30:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.20s (batch: 4.70s, save: 8.50s)
-[05/10 14:30:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s:
-  episode_total: mean=210.91s, total=210.91s, count=1, min=210912.9ms, max=210912.9ms
-  sensor_polling: mean=487.0ms, total=146.09s, count=300, min=458.3ms, max=759.1ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8503.5ms, max=8503.5ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.9ms, max=67.4ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4700.7ms, max=4700.7ms
-  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  task_specific_sample: mean=418.5ms, total=418.5ms, count=1, min=418.5ms, max=418.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=431.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:30:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:30:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:30:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 14:30:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:30:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:30:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029621m
-[05/10 14:30:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:30:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:30:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94631909  0.31345635  0.02962057] yaw=166.2deg
-[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69040675  0.41955552  0.02962057] yaw=182.9deg
-[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73251442  0.10641662  0.02962057] yaw=157.5deg
-[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:30:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:30:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.6ms
-[05/10 14:30:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.313, 0.030)
-[05/10 14:30:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg
-[05/10 14:30:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.775m
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:30:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:30:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 14:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 14:30:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:30:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:30:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:30:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True
-[05/10 14:30:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.298[m] 87.165[deg]
-[05/10 14:30:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:30:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:31:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:31:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:31:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
-[05/10 14:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.438s, found feasible grasp: True
-[05/10 14:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.490[deg]
-[05/10 14:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 14:32:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:32:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:32:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
-[05/10 14:32:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True
-[05/10 14:32:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]
-[05/10 14:32:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:32:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:32:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 14:32:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:32:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:32:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
-[05/10 14:32:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.430s, found feasible grasp: True
-[05/10 14:32:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]
-[05/10 14:32:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:32:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 14:32:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False
-[05/10 14:32:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=False episode_total=0.45s:
-  episode_total: mean=133.72s, total=133.72s, count=1, min=133724.2ms, max=133724.2ms
-  sensor_polling: mean=488.4ms, total=88.89s, count=182, min=464.3ms, max=773.2ms
-  physics_step: mean=21.9ms, total=3.99s, count=182, min=14.1ms, max=34.3ms
-  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
-  task_specific_sample: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:32:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:32:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:32:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)
-[05/10 14:32:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:32:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:32:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036635m
-[05/10 14:32:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:32:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:32:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65488628  0.60990802 -0.03663531] yaw=-176.9deg
-[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86793302  0.6301593  -0.03663531] yaw=-175.7deg
-[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6853906   0.26653787 -0.03663531] yaw=159.8deg
-[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:32:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:32:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms
-[05/10 14:32:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.610, -0.037)
-[05/10 14:32:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg
-[05/10 14:32:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:32:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:32:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:32:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 14:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 14:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/10 14:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
-[05/10 14:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.616[m] 88.715[deg]
-[05/10 14:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:33:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:35:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:35:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:35:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:35:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:35:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:35:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:35:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.91s (batch: 4.18s, save: 8.73s)
-[05/10 14:35:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
-  episode_total: mean=197.29s, total=197.29s, count=1, min=197293.2ms, max=197293.2ms
-  sensor_polling: mean=499.9ms, total=149.97s, count=300, min=449.1ms, max=819.7ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8726.9ms, max=8726.9ms
-  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.5ms, max=31.6ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.9ms, max=4182.9ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.9ms, total=402.9ms, count=1, min=402.9ms, max=402.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:35:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:35:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:35:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
-[05/10 14:35:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:35:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:35:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015219m
-[05/10 14:35:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:35:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:35:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13098431  1.19577288 -0.01521882] yaw=-119.7deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73216577  0.68093173 -0.01521882] yaw=-158.3deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:35:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:35:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.8ms
-[05/10 14:35:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.196, -0.015)
-[05/10 14:35:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.7 deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:36:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:36:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 14:36:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 14:36:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.796s, found feasible grasp: True
-[05/10 14:36:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.471[m] 85.474[deg]
-[05/10 14:36:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:36:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:37:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:37:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:37:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/10 14:37:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.520s, found feasible grasp: True
-[05/10 14:37:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.645[deg]
-[05/10 14:37:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 14:38:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:38:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:38:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
-[05/10 14:38:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.795s, found feasible grasp: False
-[05/10 14:38:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 14:38:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:38:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:38:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)
-[05/10 14:38:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:38:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:38:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002606m
-[05/10 14:38:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:38:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:38:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:38:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98120549  0.27533694 -0.00260556] yaw=171.5deg
-[05/10 14:38:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:38:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77272815  0.03458072 -0.00260556] yaw=164.0deg
-[05/10 14:38:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:38:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:38:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms
-[05/10 14:38:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.275, -0.003)
-[05/10 14:38:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg
-[05/10 14:38:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.750m
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:38:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:38:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 14:38:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 14:38:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:38:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:38:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 14:38:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True
-[05/10 14:38:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.354[m] 93.129[deg]
-[05/10 14:38:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:40:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:40:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:40:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:40:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:40:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps
-[05/10 14:40:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.550s, found feasible grasp: True
-[05/10 14:40:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.539[deg]
-[05/10 14:40:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:40:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:41:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:42:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:42:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:42:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:42:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.56s (batch: 4.58s, save: 8.98s)
-[05/10 14:42:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
-  episode_total: mean=191.44s, total=382.89s, count=2, min=161306.8ms, max=221582.0ms
-  sensor_polling: mean=487.0ms, total=282.94s, count=581, min=442.6ms, max=881.8ms
-  physics_step: mean=23.1ms, total=13.40s, count=581, min=15.9ms, max=34.9ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.9ms, max=8978.9ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4577.2ms, max=4577.2ms
-  task_sampling: mean=531.5ms, total=1.06s, count=2, min=507.4ms, max=555.6ms
-  task_specific_sample: mean=526.9ms, total=1.05s, count=2, min=503.4ms, max=550.3ms
-  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=1.8ms, max=3.6ms
-  mj_forward_sync: mean=656.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:42:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:42:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)
-[05/10 14:42:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:42:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:42:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040164m
-[05/10 14:42:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:42:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:42:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91860807  0.6837335  -0.04016364] yaw=-154.2deg
-[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98049687  1.07987155 -0.04016364] yaw=-139.1deg
-[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97498158  0.12472045 -0.04016364] yaw=147.8deg
-[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:42:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:42:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms
-[05/10 14:42:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.684, -0.040)
-[05/10 14:42:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
-[05/10 14:42:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:42:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 14:42:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 14:42:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:42:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:42:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 14:42:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True
-[05/10 14:42:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.385[m] 85.977[deg]
-[05/10 14:42:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:43:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:44:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:45:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:45:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:45:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 14:45:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:45:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:45:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.27s (batch: 4.19s, save: 9.08s)
-[05/10 14:45:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
-  episode_total: mean=188.89s, total=188.89s, count=1, min=188893.3ms, max=188893.3ms
-  sensor_polling: mean=477.3ms, total=142.72s, count=299, min=444.5ms, max=731.4ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9076.9ms, max=9076.9ms
-  physics_step: mean=21.9ms, total=6.54s, count=299, min=15.7ms, max=31.4ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.7ms, max=4190.7ms
-  task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
-  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=503.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:45:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:45:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:45:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 14:45:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:45:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:45:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035315m
-[05/10 14:45:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:45:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:45:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64235004  0.6695952   0.03531469] yaw=-167.3deg
-[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91748042  1.11715826  0.03531469] yaw=-141.0deg
-[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92882063  0.88918645  0.03531469] yaw=-150.3deg
-[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:45:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:45:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.1ms
-[05/10 14:45:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.670, 0.035)
-[05/10 14:45:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg
-[05/10 14:45:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:45:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:45:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:45:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 14:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 14:45:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:45:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:45:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:45:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True
-[05/10 14:45:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.662[m] 94.505[deg]
-[05/10 14:45:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:46:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:48:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:48:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:48:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:48:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:48:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:48:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:48:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.04s, save: 7.88s)
-[05/10 14:48:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.54s:
-  episode_total: mean=191.58s, total=191.58s, count=1, min=191584.7ms, max=191584.7ms
-  sensor_polling: mean=489.2ms, total=146.76s, count=300, min=451.6ms, max=765.6ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7876.0ms, max=7876.0ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.3ms, max=32.7ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
-  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
-  task_specific_sample: mean=538.5ms, total=538.5ms, count=1, min=538.5ms, max=538.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=484.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:48:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:48:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:48:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)
-[05/10 14:48:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:48:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:48:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048929m
-[05/10 14:48:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:48:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:48:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03589347  1.22923157 -0.0489295 ] yaw=-126.2deg
-[05/10 14:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77711352  0.7059697  -0.0489295 ] yaw=-165.8deg
-[05/10 14:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:48:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90467479  0.22625358 -0.0489295 ] yaw=170.3deg
-[05/10 14:48:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:48:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:48:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms
-[05/10 14:48:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.229, -0.049)
-[05/10 14:48:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.2 deg
-[05/10 14:48:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
-[05/10 14:48:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:48:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:48:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:48:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:48:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 14:48:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:48:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:48:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:48:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:48:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.798s, found feasible grasp: True
-[05/10 14:48:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.607[m] 88.091[deg]
-[05/10 14:48:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 14:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:50:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:50:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:50:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 14:50:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.673s, found feasible grasp: True
-[05/10 14:50:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.651[deg]
-[05/10 14:50:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:50:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:51:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:51:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:51:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:51:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 14:51:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:51:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:51:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
-[05/10 14:51:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.713s, found feasible grasp: True
-[05/10 14:51:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.093[m] 0.792[deg]
-[05/10 14:51:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:51:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False
-[05/10 14:51:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=0.43s:
-  episode_total: mean=165.01s, total=165.01s, count=1, min=165008.7ms, max=165008.7ms
-  sensor_polling: mean=468.6ms, total=140.58s, count=300, min=420.4ms, max=814.2ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=15.7ms, max=32.3ms
-  task_sampling: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms
-  task_specific_sample: mean=424.0ms, total=424.0ms, count=1, min=424.0ms, max=424.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=410.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:51:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:51:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:51:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
-[05/10 14:51:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:51:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:51:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029318m
-[05/10 14:51:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:51:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:51:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85614341  0.89880259 -0.02931802] yaw=-156.2deg
-[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88844757  0.15064232 -0.02931802] yaw=167.5deg
-[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81690903  0.60588697 -0.02931802] yaw=-172.2deg
-[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:51:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:51:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=107.9ms
-[05/10 14:51:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.899, -0.029)
-[05/10 14:51:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg
-[05/10 14:51:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.943m
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:51:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:51:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 14:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 14:51:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:51:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:51:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:51:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True
-[05/10 14:51:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.510[m] 87.538[deg]
-[05/10 14:51:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:52:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:52:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:54:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:54:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:54:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:54:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:54:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:54:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:54:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.65s (batch: 3.90s, save: 8.75s)
-[05/10 14:54:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=178.31s, total=178.31s, count=1, min=178312.1ms, max=178312.1ms
-  sensor_polling: mean=446.4ms, total=133.93s, count=300, min=422.6ms, max=741.6ms
-  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8750.8ms, max=8750.8ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.8ms, max=29.8ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.3ms, max=3903.3ms
-  task_sampling: mean=368.6ms, total=368.6ms, count=1, min=368.6ms, max=368.6ms
-  task_specific_sample: mean=365.0ms, total=365.0ms, count=1, min=365.0ms, max=365.0ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:54:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:54:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:54:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)
-[05/10 14:54:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:54:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:54:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013912m
-[05/10 14:54:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:54:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:54:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67793815  0.1859976  -0.01391195] yaw=160.3deg
-[05/10 14:54:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10391666  1.12199953 -0.01391195] yaw=-131.4deg
-[05/10 14:54:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:54:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:54:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms
-[05/10 14:54:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.186, -0.014)
-[05/10 14:54:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg
-[05/10 14:54:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.066m
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:54:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:54:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:54:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 14:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 14:54:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:54:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:54:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 14:54:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True
-[05/10 14:54:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.633[m] 91.481[deg]
-[05/10 14:54:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:54:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:54:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:57:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:57:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:57:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 14:57:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:57:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:57:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:57:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.75s (batch: 3.98s, save: 7.77s)
-[05/10 14:57:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.7ms, max=180369.7ms
-  sensor_polling: mean=449.3ms, total=134.79s, count=300, min=405.3ms, max=722.2ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=18.3ms, max=33.3ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.3ms, max=3979.3ms
-  task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms
-  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:57:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:57:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
-[05/10 14:57:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:57:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:57:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011070m
-[05/10 14:57:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:57:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:57:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:57:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76531663  0.54643994 -0.01107041] yaw=-174.0deg
-[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02427755  0.69886144 -0.01107041] yaw=-151.9deg
-[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:57:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01058704  0.78430932 -0.01107041] yaw=-159.6deg
-[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:57:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:57:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.9ms, total=102.9ms
-[05/10 14:57:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.546, -0.011)
-[05/10 14:57:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg
-[05/10 14:57:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.939m
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:57:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 14:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 14:57:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:57:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:57:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 14:57:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
-[05/10 14:57:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 82.719[deg]
-[05/10 14:57:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:58:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:59:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:00:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 15:00:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
-[05/10 15:00:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:00:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:00:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 15:00:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 10.57s (batch: 3.30s, save: 7.27s)
-[05/10 15:00:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
-  episode_total: mean=157.52s, total=157.52s, count=1, min=157519.9ms, max=157519.9ms
-  sensor_polling: mean=390.0ms, total=117.00s, count=300, min=361.6ms, max=687.6ms
-  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7268.7ms, max=7268.7ms
-  physics_step: mean=19.6ms, total=5.87s, count=300, min=16.7ms, max=39.0ms
-  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3302.6ms, max=3302.6ms
-  task_sampling: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
-  task_specific_sample: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:00:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 15:00:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 15:00:17 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/14 successful episodes
-[05/10 15:00:17 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5962.38s
-  House averages:
-  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
-  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
-  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
-  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
-  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
-  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
-  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:00:17 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:00:17 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5962.38s
-  Worker averages:
-  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
-  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
-  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
-  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
-  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
-  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
-  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
-  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
-  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
-  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
-  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
-  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
-  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
-  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:00:19 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:00:19 INFO pipeline.py:1491] Success count: 12, Total count: 14
-[05/10 15:00:19 INFO pipeline.py:1492] Success rate: 85.71%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
-==========================================
diff --git a/fridge_7/chunk_001/shard_2_of_4.log b/fridge_7/chunk_001/shard_2_of_4.log
deleted file mode 100644
index 48a012762152a086e5a2d59fa05e0840e3ad0ad1..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_001/shard_2_of_4.log
+++ /dev/null
@@ -1,1779 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
-  shard=2/4  seed=20102  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78f727fcd250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20102,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 133002929519056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133002929519056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 133002929519056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133002929519056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 133002935997904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133002935997904 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133002936007376 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133002936007376 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133002936007376 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133002936007376 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133002935997904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133002935997904 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133002929619280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133002929619280 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133002929619088 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133002929619088 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 133002929619088 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133002929619088 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133002929619280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133002929619280 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 14:05:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 615e02585890 at 0x78f728d0ba10>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615e025d3440 at 0x78f728d17450>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615e025d3440 at 0x78f728c9d250>
-[05/10 14:05:56 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021447m
-[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13020049  0.93740108  0.02144654] yaw=-148.5deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85542991  0.66821467  0.02144654] yaw=-171.8deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63845505  0.48750587  0.02144654] yaw=-189.1deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=25.9ms, retries=135.4ms, total=161.3ms
-[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.130, 0.937, 0.021)
-[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.731m
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 14:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.056s
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:06:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 14:06:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True
-[05/10 14:06:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.297[m] 87.891[deg]
-[05/10 14:06:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:08:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:08:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:08:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:08:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 14:08:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.782s, found feasible grasp: True
-[05/10 14:08:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.389[deg]
-[05/10 14:08:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 417, in get_action
-    action = self.action_primitives[-1].get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:09:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:09:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:09:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 14:09:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:09:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:09:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028376m
-[05/10 14:09:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:09:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:09:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:09:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89959851  0.93973362  0.02837596] yaw=-149.8deg
-[05/10 14:09:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08894542  1.22452254  0.02837596] yaw=-118.7deg
-[05/10 14:09:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:09:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.5ms, total=238.6ms
-[05/10 14:09:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.940, 0.028)
-[05/10 14:09:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg
-[05/10 14:09:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:09:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:09:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:09:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 14:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 14:09:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:09:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:09:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 14:09:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True
-[05/10 14:09:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 87.697[deg]
-[05/10 14:09:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:09:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:11:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 14:11:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:11:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:11:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:12:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 14:12:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:12:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.96s (batch: 4.70s, save: 9.26s)
-[05/10 14:12:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=5.34s:
-  episode_total: mean=188.36s, total=376.72s, count=2, min=185557.6ms, max=191162.4ms
-  sensor_polling: mean=474.0ms, total=274.44s, count=579, min=435.6ms, max=734.4ms
-  physics_step: mean=22.4ms, total=12.96s, count=579, min=16.9ms, max=31.3ms
-  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms
-  task_sampling: mean=2.67s, total=5.34s, count=2, min=495.8ms, max=4848.4ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4695.2ms, max=4695.2ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  task_specific_sample: mean=671.6ms, total=1.34s, count=2, min=493.2ms, max=850.1ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=681.1us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:12:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:12:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 14:12:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:12:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:12:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048967m
-[05/10 14:12:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:12:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:12:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73075596  0.025655    0.04896676] yaw=154.9deg
-[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90522028  0.48042069  0.04896676] yaw=174.7deg
-[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95926488  0.11418804  0.04896676] yaw=149.7deg
-[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:12:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:12:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms
-[05/10 14:12:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.026, 0.049)
-[05/10 14:12:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg
-[05/10 14:12:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.073m
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:12:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 14:12:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:12:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:12:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 14:12:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True
-[05/10 14:12:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.664[m] 101.791[deg]
-[05/10 14:12:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:14:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:14:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:14:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:14:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:14:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:14:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
-[05/10 14:14:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.450s, found feasible grasp: True
-[05/10 14:14:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.088[deg]
-[05/10 14:14:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:15:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
-[05/10 14:15:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.49s:
-  episode_total: mean=169.06s, total=169.06s, count=1, min=169063.6ms, max=169063.6ms
-  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=453.1ms, max=759.2ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=15.2ms, max=31.6ms
-  task_sampling: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms
-  task_specific_sample: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:15:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:15:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
-[05/10 14:15:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:15:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:15:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011141m
-[05/10 14:15:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:15:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:15:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84751969  0.86747897 -0.01114094] yaw=-160.9deg
-[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74676332  0.57139074 -0.01114094] yaw=-171.7deg
-[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9162073   0.49529128 -0.01114094] yaw=-179.0deg
-[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:15:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:15:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms
-[05/10 14:15:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.867, -0.011)
-[05/10 14:15:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
-[05/10 14:15:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:15:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 14:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 14:15:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:15:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:15:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:15:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True
-[05/10 14:15:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 86.231[deg]
-[05/10 14:15:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:16:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:17:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:18:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:18:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:18:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.58s (batch: 4.38s, save: 9.20s)
-[05/10 14:18:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
-  episode_total: mean=191.77s, total=191.77s, count=1, min=191765.7ms, max=191765.7ms
-  sensor_polling: mean=476.0ms, total=142.79s, count=300, min=445.0ms, max=726.4ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.0ms, max=49.0ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4378.3ms, max=4378.3ms
-  task_sampling: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
-  task_specific_sample: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=415.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:18:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:18:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:18:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 14:18:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:18:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:18:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m
-[05/10 14:18:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:18:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:18:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90537391  0.78232927  0.03142028] yaw=-166.5deg
-[05/10 14:18:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86572888  0.12055873  0.03142028] yaw=152.1deg
-[05/10 14:18:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:18:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:18:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms
-[05/10 14:18:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.782, 0.031)
-[05/10 14:18:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg
-[05/10 14:18:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:18:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:18:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 14:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 14:18:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:18:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:18:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:18:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True
-[05/10 14:18:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.500[deg]
-[05/10 14:18:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:20:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:21:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:21:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:21:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:21:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:21:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:21:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 15.29s (batch: 4.28s, save: 11.02s)
-[05/10 14:21:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=193.04s, total=193.04s, count=1, min=193036.4ms, max=193036.4ms
-  sensor_polling: mean=481.5ms, total=144.45s, count=300, min=445.7ms, max=880.2ms
-  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11018.3ms, max=11018.3ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=15.6ms, max=40.9ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.6ms, max=4276.6ms
-  task_sampling: mean=487.1ms, total=487.1ms, count=1, min=487.1ms, max=487.1ms
-  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:21:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:21:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:21:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 14:21:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:21:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:21:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034907m
-[05/10 14:21:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:21:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:21:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:21:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8928421   0.27860261  0.03490673] yaw=154.8deg
-[05/10 14:21:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:21:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14272022  1.03364451  0.03490673] yaw=-127.1deg
-[05/10 14:21:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:21:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:21:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.7ms
-[05/10 14:21:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.279, 0.035)
-[05/10 14:21:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg
-[05/10 14:21:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.835m
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:21:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:21:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 14:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 14:21:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:21:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:21:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 14:21:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
-[05/10 14:21:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 89.190[deg]
-[05/10 14:21:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:22:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:23:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:23:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:23:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/10 14:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.470s, found feasible grasp: True
-[05/10 14:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.113[deg]
-[05/10 14:23:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:23:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:23:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:23:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)
-[05/10 14:23:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:23:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:23:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040661m
-[05/10 14:23:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:23:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:23:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:23:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81628415  0.196483   -0.04066056] yaw=167.7deg
-[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68727892  0.24669975 -0.04066056] yaw=164.4deg
-[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:23:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05481447  0.83173347 -0.04066056] yaw=-154.6deg
-[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:23:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:23:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms
-[05/10 14:23:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.196, -0.041)
-[05/10 14:23:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg
-[05/10 14:23:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/10 14:23:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:23:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 14:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 14:23:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:23:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:23:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 14:23:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
-[05/10 14:23:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.477[m] 83.858[deg]
-[05/10 14:23:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:23:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:23:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:26:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:26:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:26:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:26:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:26:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.79s (batch: 4.36s, save: 8.43s)
-[05/10 14:26:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.94s:
-  episode_total: mean=154.94s, total=309.89s, count=2, min=116772.0ms, max=193118.0ms
-  sensor_polling: mean=487.5ms, total=244.26s, count=501, min=455.6ms, max=792.6ms
-  physics_step: mean=23.3ms, total=11.65s, count=501, min=17.3ms, max=57.9ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.0ms, max=8426.0ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.8ms, max=4361.8ms
-  task_sampling: mean=468.3ms, total=936.5ms, count=2, min=416.4ms, max=520.1ms
-  task_specific_sample: mean=464.3ms, total=928.6ms, count=2, min=413.2ms, max=515.4ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.4ms, max=3.2ms
-  mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:26:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:26:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)
-[05/10 14:26:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:26:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:26:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034907m
-[05/10 14:26:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:26:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:26:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82927735  0.18855344 -0.03490672] yaw=166.0deg
-[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88984311  0.4486617  -0.03490672] yaw=177.3deg
-[05/10 14:26:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:26:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03827952  0.97393978 -0.03490672] yaw=-153.0deg
-[05/10 14:26:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:26:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:26:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=392.8ms, total=392.9ms
-[05/10 14:26:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.189, -0.035)
-[05/10 14:26:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg
-[05/10 14:26:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
-[05/10 14:26:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:26:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 14:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 14:26:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True
-[05/10 14:26:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.450[m] 82.859[deg]
-[05/10 14:26:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:27:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:29:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:29:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:29:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:29:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:29:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:29:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:29:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.01s (batch: 4.17s, save: 8.84s)
-[05/10 14:29:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s:
-  episode_total: mean=193.83s, total=193.83s, count=1, min=193831.4ms, max=193831.4ms
-  sensor_polling: mean=491.9ms, total=147.57s, count=300, min=454.7ms, max=833.8ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8837.8ms, max=8837.8ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.3ms, max=31.4ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.5ms, max=4167.5ms
-  task_sampling: mean=685.7ms, total=685.7ms, count=1, min=685.7ms, max=685.7ms
-  task_specific_sample: mean=680.3ms, total=680.3ms, count=1, min=680.3ms, max=680.3ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=755.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:30:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:30:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:30:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)
-[05/10 14:30:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:30:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:30:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018199m
-[05/10 14:30:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:30:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:30:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8526533   0.16758849 -0.01819886] yaw=160.7deg
-[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14621238  1.07529737 -0.01819886] yaw=-138.9deg
-[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88893924  0.50199117 -0.01819886] yaw=-174.9deg
-[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:30:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:30:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms
-[05/10 14:30:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.168, -0.018)
-[05/10 14:30:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg
-[05/10 14:30:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:30:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:30:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:30:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 14:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 14:30:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:30:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:30:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:30:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True
-[05/10 14:30:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.453[m] 88.220[deg]
-[05/10 14:30:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:30:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:30:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:30:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:31:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps
-[05/10 14:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.632s, found feasible grasp: True
-[05/10 14:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.892[deg]
-[05/10 14:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
-[05/10 14:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010946m
-[05/10 14:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88086928  0.98429046 -0.01094578] yaw=-156.5deg
-[05/10 14:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87664164  0.79218388 -0.01094578] yaw=-153.2deg
-[05/10 14:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.7ms
-[05/10 14:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.984, -0.011)
-[05/10 14:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg
-[05/10 14:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.963m
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:32:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:32:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 14:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 14:32:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:32:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:32:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:32:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True
-[05/10 14:32:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.610[m] 95.524[deg]
-[05/10 14:32:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:33:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:35:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:35:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:35:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:35:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:35:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:35:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:35:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.13s (batch: 4.60s, save: 8.53s)
-[05/10 14:35:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
-  episode_total: mean=177.25s, total=354.50s, count=2, min=162309.4ms, max=192190.2ms
-  sensor_polling: mean=485.8ms, total=280.77s, count=578, min=446.3ms, max=844.8ms
-  physics_step: mean=22.3ms, total=12.87s, count=578, min=16.4ms, max=32.8ms
-  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8530.8ms, max=8530.8ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4603.3ms, max=4603.3ms
-  task_sampling: mean=476.3ms, total=952.7ms, count=2, min=438.5ms, max=514.1ms
-  task_specific_sample: mean=472.7ms, total=945.3ms, count=2, min=434.6ms, max=510.7ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms
-  mj_forward_sync: mean=455.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:35:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:35:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:35:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 14:35:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:35:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:35:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007702m
-[05/10 14:35:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:35:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:35:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99620103  1.32097789  0.00770178] yaw=-121.9deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05134104  0.86434723  0.00770178] yaw=-150.2deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96141614  0.70340559  0.00770178] yaw=-169.4deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:35:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:35:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms
-[05/10 14:35:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.321, 0.008)
-[05/10 14:35:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg
-[05/10 14:35:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.097m
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:35:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:35:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 14:36:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:36:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 14:36:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.537s, found feasible grasp: False
-[05/10 14:36:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 14:36:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:36:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:36:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)
-[05/10 14:36:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:36:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:36:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038324m
-[05/10 14:36:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:36:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:36:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94639114  0.34697009 -0.03832441] yaw=162.8deg
-[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04735679  0.23419845 -0.03832441] yaw=153.4deg
-[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03456748  0.70055342 -0.03832441] yaw=-157.4deg
-[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:36:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:36:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms
-[05/10 14:36:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.347, -0.038)
-[05/10 14:36:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
-[05/10 14:36:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:36:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:36:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 14:36:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:36:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:36:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 14:36:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/10 14:36:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.288[m] 81.968[deg]
-[05/10 14:36:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:36:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:36:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:37:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:37:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:38:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:38:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:38:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/10 14:38:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.564s, found feasible grasp: True
-[05/10 14:38:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.172[deg]
-[05/10 14:38:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:39:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:39:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:39:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:39:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:39:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:39:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:39:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.29s, save: 9.01s)
-[05/10 14:39:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.11s:
-  episode_total: mean=109.25s, total=218.51s, count=2, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=503.2ms, total=150.96s, count=300, min=461.8ms, max=942.3ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9012.0ms, max=9012.0ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.7ms, max=33.4ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.2ms, max=4291.2ms
-  task_sampling: mean=556.9ms, total=1.11s, count=2, min=509.2ms, max=604.5ms
-  task_specific_sample: mean=553.4ms, total=1.11s, count=2, min=506.2ms, max=600.6ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.7ms
-  mj_forward_sync: mean=438.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:39:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:39:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:39:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 14:39:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:39:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:39:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047996m
-[05/10 14:39:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:39:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:39:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7152007   0.72413304  0.04799573] yaw=-160.7deg
-[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78837347  1.0413213   0.04799573] yaw=-151.7deg
-[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97122827  0.71199552  0.04799573] yaw=-157.0deg
-[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:39:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:39:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms
-[05/10 14:39:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.724, 0.048)
-[05/10 14:39:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
-[05/10 14:39:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:39:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:39:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 14:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 14:39:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:39:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:39:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 14:39:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True
-[05/10 14:39:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.028[deg]
-[05/10 14:39:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:42:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:42:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:42:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:42:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:42:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.60s (batch: 4.00s, save: 8.60s)
-[05/10 14:42:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=192.42s, total=192.42s, count=1, min=192418.3ms, max=192418.3ms
-  sensor_polling: mean=486.7ms, total=146.00s, count=300, min=453.4ms, max=782.1ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.1ms, max=8598.1ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=15.9ms, max=33.1ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.5ms, max=3998.5ms
-  task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms
-  task_specific_sample: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:42:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:42:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 14:42:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:42:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:42:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010917m
-[05/10 14:42:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:42:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:42:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89600913  0.07261128  0.01091664] yaw=159.2deg
-[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97630165  1.09410924  0.01091664] yaw=-139.7deg
-[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91390666  1.21154717  0.01091664] yaw=-148.1deg
-[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:42:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:42:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms
-[05/10 14:42:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.073, 0.011)
-[05/10 14:42:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg
-[05/10 14:42:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:42:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 14:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 14:42:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:42:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:42:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:42:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
-[05/10 14:42:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.470[m] 87.830[deg]
-[05/10 14:42:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:43:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:45:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:45:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:45:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:45:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:45:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/10 14:45:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.425s, found feasible grasp: True
-[05/10 14:45:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.114[deg]
-[05/10 14:45:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:45:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:45:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:45:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:46:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:46:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:46:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:46:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:46:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:46:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.39s, save: 8.46s)
-[05/10 14:46:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s:
-  episode_total: mean=206.86s, total=206.86s, count=1, min=206856.9ms, max=206856.9ms
-  sensor_polling: mean=492.3ms, total=147.69s, count=300, min=459.7ms, max=745.7ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.5ms, max=8455.5ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=15.0ms, max=67.6ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.0ms, max=4389.0ms
-  task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
-  task_specific_sample: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:46:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:46:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:46:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 14:46:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:46:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:46:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043753m
-[05/10 14:46:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:46:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:46:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97863391  1.13654014  0.04375263] yaw=-138.5deg
-[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89901587  0.53250508  0.04375263] yaw=-184.8deg
-[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81839762  0.19170031  0.04375263] yaw=159.2deg
-[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:46:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:46:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.1ms, total=85.1ms
-[05/10 14:46:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 1.137, 0.044)
-[05/10 14:46:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg
-[05/10 14:46:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:46:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:46:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:46:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 14:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 14:46:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:46:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:46:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:46:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.774s, found feasible grasp: True
-[05/10 14:46:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.516[m] 83.118[deg]
-[05/10 14:46:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:48:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:48:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:48:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:48:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:48:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:48:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
-[05/10 14:48:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.738s, found feasible grasp: True
-[05/10 14:48:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.845[deg]
-[05/10 14:48:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:48:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:48:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:49:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:49:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:49:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:49:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:49:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:49:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:49:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:49:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.51s (batch: 4.26s, save: 8.25s)
-[05/10 14:49:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.39s:
-  episode_total: mean=199.07s, total=199.07s, count=1, min=199073.6ms, max=199073.6ms
-  sensor_polling: mean=475.1ms, total=142.54s, count=300, min=428.7ms, max=731.6ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8254.0ms, max=8254.0ms
-  physics_step: mean=22.4ms, total=6.73s, count=300, min=15.4ms, max=46.0ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.9ms, max=4259.9ms
-  task_sampling: mean=385.1ms, total=385.1ms, count=1, min=385.1ms, max=385.1ms
-  task_specific_sample: mean=381.6ms, total=381.6ms, count=1, min=381.6ms, max=381.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=405.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:49:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:49:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:49:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)
-[05/10 14:49:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:49:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:49:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047469m
-[05/10 14:49:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:49:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:49:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:49:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01541936  0.8555137  -0.04746936] yaw=-155.4deg
-[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98916372  0.57554387 -0.04746936] yaw=-183.5deg
-[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:49:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90397745  1.13141531 -0.04746936] yaw=-132.7deg
-[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:49:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:49:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms
-[05/10 14:49:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.856, -0.047)
-[05/10 14:49:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg
-[05/10 14:49:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:49:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:49:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:49:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 14:49:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 14:49:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:49:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:49:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 14:49:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True
-[05/10 14:49:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 99.417[deg]
-[05/10 14:49:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:49:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:49:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:52:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:52:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:52:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:52:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:52:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:52:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:52:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.56s (batch: 3.99s, save: 8.57s)
-[05/10 14:52:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
-  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.5ms, max=184663.5ms
-  sensor_polling: mean=463.9ms, total=139.16s, count=300, min=434.8ms, max=745.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8569.8ms, max=8569.8ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=18.6ms, max=30.7ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.8ms, max=3992.8ms
-  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
-  task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:52:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:52:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:52:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
-[05/10 14:52:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:52:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:52:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048248m
-[05/10 14:52:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:52:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:52:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82212884  0.5330823  -0.04824771] yaw=-175.7deg
-[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99932792  0.87625488 -0.04824771] yaw=-145.8deg
-[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90665121  0.26023344 -0.04824771] yaw=175.8deg
-[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:52:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:52:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.7ms, total=158.7ms
-[05/10 14:52:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.533, -0.048)
-[05/10 14:52:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg
-[05/10 14:52:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:52:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:52:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:52:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 14:52:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:52:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:52:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:52:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 14:52:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True
-[05/10 14:52:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.428[m] 86.762[deg]
-[05/10 14:52:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:53:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:53:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:55:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:55:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:55:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
-[05/10 14:55:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:55:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:55:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:55:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.46s (batch: 4.11s, save: 8.36s)
-[05/10 14:55:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
-  episode_total: mean=184.73s, total=184.73s, count=1, min=184734.9ms, max=184734.9ms
-  sensor_polling: mean=461.9ms, total=138.58s, count=300, min=424.6ms, max=752.7ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.8ms, max=8356.8ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.1ms, max=38.0ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.8ms, max=4107.8ms
-  task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms
-  task_specific_sample: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:55:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:55:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:55:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)
-[05/10 14:55:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:55:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:55:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012420m
-[05/10 14:55:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:55:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:55:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05874849  1.07540036 -0.01242026] yaw=-136.5deg
-[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82287514  0.52664149 -0.01242026] yaw=-167.6deg
-[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98719447  1.09050792 -0.01242026] yaw=-135.3deg
-[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:55:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:55:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms
-[05/10 14:55:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.075, -0.012)
-[05/10 14:55:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg
-[05/10 14:55:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:55:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:55:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 14:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
-[05/10 14:55:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:55:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:55:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:55:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True
-[05/10 14:55:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 84.322[deg]
-[05/10 14:55:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:58:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:58:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:58:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:58:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:58:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/10 14:58:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.592s, found feasible grasp: True
-[05/10 14:58:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.367[deg]
-[05/10 14:58:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:58:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 14:58:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 14:58:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/10 14:58:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5767.08s
-  House averages:
-  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
-  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
-  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
-  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
-  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
-  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 14:58:12 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 14:58:12 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5767.08s
-  Worker averages:
-  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
-  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
-  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
-  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
-  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
-  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
-  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
-  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
-  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
-  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
-  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
-  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
-  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
-  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
-  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 14:58:14 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 14:58:14 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/10 14:58:14 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
-==========================================
diff --git a/fridge_7/chunk_001/shard_3_of_4.log b/fridge_7/chunk_001/shard_3_of_4.log
deleted file mode 100644
index 6a2f0a000d3542328a24fbcf21d8bd02e98bcf4e..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_001/shard_3_of_4.log
+++ /dev/null
@@ -1,1719 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
-  shard=3/4  seed=20103  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 14:05:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 14:05:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 14:05:54 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72a817450a50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20103,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 14:05:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 14:05:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 126066269684752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126066269684752 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 126066269684752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126066269684752 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 126066271928144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126066271928144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126066271926224 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126066271926224 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126066271926224 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126066271926224 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126066271928144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126066271928144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126066272190864 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126066272190864 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126066272193104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126066272193104 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 126066272193104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126066272193104 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126066272190864 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126066272190864 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 14:05:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5e727c72f170 at 0x72a817975690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e727c75cd10 at 0x72a81797f910>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e727c75cd10 at 0x72a81790c410>
-[05/10 14:05:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)
-[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047403m
-[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.722247    0.63381804 -0.04740266] yaw=-165.9deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93355378  0.34263279 -0.04740266] yaw=167.9deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.1ms, retries=353.7ms, total=377.8ms
-[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.634, -0.047)
-[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:05:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 14:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.099s
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
-[05/10 14:06:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 80.513[deg]
-[05/10 14:06:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:07:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:08:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 14:09:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:09:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:09:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:09:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 14:09:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:09:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.31s (batch: 4.61s, save: 8.70s)
-[05/10 14:09:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.74s:
-  episode_total: mean=220.92s, total=220.92s, count=1, min=220922.5ms, max=220922.5ms
-  sensor_polling: mean=479.5ms, total=143.86s, count=300, min=450.4ms, max=633.7ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8696.3ms, max=8696.3ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.5ms, max=32.9ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
-  task_sampling: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  task_specific_sample: mean=652.7ms, total=652.7ms, count=1, min=652.7ms, max=652.7ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=686.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:09:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:09:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:09:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:09:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:09:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:09:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:09:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 14:09:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:09:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:09:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044235m
-[05/10 14:09:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:09:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:09:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97971362  0.67989239  0.04423522] yaw=-165.6deg
-[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00498182  0.58033261  0.04423522] yaw=-178.7deg
-[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79657213  0.1582366   0.04423522] yaw=150.1deg
-[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:09:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:09:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms
-[05/10 14:09:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.680, 0.044)
-[05/10 14:09:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg
-[05/10 14:09:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.749m
-[05/10 14:09:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:09:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:09:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:09:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:09:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:09:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 14:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 14:09:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:09:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:09:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:09:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
-[05/10 14:09:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.328[m] 91.136[deg]
-[05/10 14:09:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:12:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:12:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:12:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:12:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 288 timesteps
-[05/10 14:12:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:12:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:12:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.63s (batch: 4.22s, save: 8.41s)
-[05/10 14:12:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=182.36s, total=182.36s, count=1, min=182363.3ms, max=182363.3ms
-  sensor_polling: mean=477.4ms, total=137.03s, count=287, min=451.2ms, max=732.1ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8409.6ms, max=8409.6ms
-  physics_step: mean=22.1ms, total=6.34s, count=287, min=17.0ms, max=30.8ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.5ms, max=4220.5ms
-  task_sampling: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
-  task_specific_sample: mean=420.3ms, total=420.3ms, count=1, min=420.3ms, max=420.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=444.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:12:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:12:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)
-[05/10 14:12:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:12:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:12:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019357m
-[05/10 14:12:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:12:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:12:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78023439  0.39542164 -0.01935712] yaw=168.8deg
-[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98237261  0.79356752 -0.01935712] yaw=-164.7deg
-[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94133528  1.07236431 -0.01935712] yaw=-149.3deg
-[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:12:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:12:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.1ms, total=323.2ms
-[05/10 14:12:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.395, -0.019)
-[05/10 14:12:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg
-[05/10 14:12:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:12:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:12:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:12:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 14:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 14:12:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:12:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:12:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:12:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True
-[05/10 14:12:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.501[m] 97.592[deg]
-[05/10 14:12:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:13:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:15:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:15:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:15:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:15:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:15:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:15:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:15:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.86s (batch: 4.34s, save: 9.52s)
-[05/10 14:15:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.63s:
-  episode_total: mean=193.90s, total=193.90s, count=1, min=193900.4ms, max=193900.4ms
-  sensor_polling: mean=485.2ms, total=145.56s, count=300, min=455.6ms, max=783.2ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9518.2ms, max=9518.2ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=18.8ms, max=38.1ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.4ms, max=4340.4ms
-  task_sampling: mean=628.8ms, total=628.8ms, count=1, min=628.8ms, max=628.8ms
-  task_specific_sample: mean=624.8ms, total=624.8ms, count=1, min=624.8ms, max=624.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=451.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:15:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:15:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)
-[05/10 14:15:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:15:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:15:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009189m
-[05/10 14:15:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:15:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:15:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9438823   0.85806287 -0.00918854] yaw=-144.6deg
-[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80088408  0.74344339 -0.00918854] yaw=-169.4deg
-[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70427385  0.04769636 -0.00918854] yaw=153.1deg
-[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:15:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:15:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=84.5ms, total=84.6ms
-[05/10 14:15:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.858, -0.009)
-[05/10 14:15:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg
-[05/10 14:15:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:15:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:15:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 14:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 14:15:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:15:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:15:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 14:15:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
-[05/10 14:15:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 82.622[deg]
-[05/10 14:15:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:16:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:16:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:16:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:18:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:18:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:18:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:18:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 14:19:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:19:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:19:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.08s (batch: 4.37s, save: 8.71s)
-[05/10 14:19:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
-  episode_total: mean=193.37s, total=193.37s, count=1, min=193370.6ms, max=193370.6ms
-  sensor_polling: mean=490.0ms, total=146.50s, count=299, min=459.2ms, max=659.8ms
-  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8706.6ms, max=8706.6ms
-  physics_step: mean=22.9ms, total=6.86s, count=299, min=16.5ms, max=32.9ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.5ms, max=4374.5ms
-  task_sampling: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
-  task_specific_sample: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=497.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:19:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:19:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:19:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)
-[05/10 14:19:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:19:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:19:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044560m
-[05/10 14:19:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:19:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:19:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75084256  0.55442678 -0.0445596 ] yaw=-178.6deg
-[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94782     0.46865595 -0.0445596 ] yaw=178.2deg
-[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85904163  0.0377907  -0.0445596 ] yaw=152.0deg
-[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:19:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:19:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms
-[05/10 14:19:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.554, -0.045)
-[05/10 14:19:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg
-[05/10 14:19:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:19:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:19:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:19:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 14:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
-[05/10 14:19:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:19:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:19:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 14:19:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/10 14:19:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 98.544[deg]
-[05/10 14:19:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:20:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:21:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:22:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:22:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:22:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:22:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:22:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:22:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.40s, save: 8.90s)
-[05/10 14:22:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.55s:
-  episode_total: mean=192.98s, total=192.98s, count=1, min=192982.3ms, max=192982.3ms
-  sensor_polling: mean=483.6ms, total=145.09s, count=300, min=455.1ms, max=720.1ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8895.1ms, max=8895.1ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=18.8ms, max=79.8ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4400.1ms, max=4400.1ms
-  task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
-  task_specific_sample: mean=546.0ms, total=546.0ms, count=1, min=546.0ms, max=546.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=39.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:22:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:22:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:22:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
-[05/10 14:22:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:22:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:22:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028836m
-[05/10 14:22:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:22:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:22:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15961076  1.12263759 -0.02883615] yaw=-119.6deg
-[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15394852  1.0527929  -0.02883615] yaw=-131.5deg
-[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98218125  0.15705872 -0.02883615] yaw=146.8deg
-[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:22:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:22:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms
-[05/10 14:22:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.160, 1.123, -0.029)
-[05/10 14:22:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg
-[05/10 14:22:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:22:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:22:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:22:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 14:22:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 14:22:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:22:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:22:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 14:22:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.821s, found feasible grasp: True
-[05/10 14:22:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.433[m] 90.855[deg]
-[05/10 14:22:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:24:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:24:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:24:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:24:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 14:24:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.731s, found feasible grasp: True
-[05/10 14:24:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.057[m] 9.931[deg]
-[05/10 14:24:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:24:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:24:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:24:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/10 14:24:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:24:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:24:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036250m
-[05/10 14:24:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:24:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:24:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:24:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09469198  1.17180561  0.03624994] yaw=-140.2deg
-[05/10 14:24:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:24:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:24:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.6ms
-[05/10 14:24:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.172, 0.036)
-[05/10 14:24:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg
-[05/10 14:24:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:24:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:24:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:24:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 14:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 14:24:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:24:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:24:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 14:24:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.696s, found feasible grasp: True
-[05/10 14:24:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.542[m] 92.338[deg]
-[05/10 14:24:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:26:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:27:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:27:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:27:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:27:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:27:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:27:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/10 14:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.740s, found feasible grasp: True
-[05/10 14:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.295[deg]
-[05/10 14:27:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:27:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:27:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:27:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:27:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:28:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:28:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:28:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:28:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:28:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:28:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.99s (batch: 4.52s, save: 8.47s)
-[05/10 14:28:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.87s:
-  episode_total: mean=173.90s, total=347.80s, count=2, min=144265.5ms, max=203535.8ms
-  sensor_polling: mean=479.1ms, total=265.88s, count=555, min=452.0ms, max=753.2ms
-  physics_step: mean=21.8ms, total=12.08s, count=555, min=16.2ms, max=38.4ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8468.5ms, max=8468.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.4ms, max=4521.4ms
-  task_sampling: mean=435.4ms, total=870.8ms, count=2, min=424.9ms, max=445.9ms
-  task_specific_sample: mean=431.9ms, total=863.8ms, count=2, min=421.1ms, max=442.6ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=414.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:28:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:28:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:28:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 14:28:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:28:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:28:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006864m
-[05/10 14:28:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:28:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:28:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:28:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77705269  0.28051767  0.0068636 ] yaw=170.9deg
-[05/10 14:28:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:28:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:28:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=193.9ms
-[05/10 14:28:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.281, 0.007)
-[05/10 14:28:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg
-[05/10 14:28:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.947m
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:28:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:28:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 14:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 14:28:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:28:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:28:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:28:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True
-[05/10 14:28:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.531[m] 94.745[deg]
-[05/10 14:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:29:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:31:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:31:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:31:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:31:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:31:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:31:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:31:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.54s (batch: 4.38s, save: 9.16s)
-[05/10 14:31:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
-  episode_total: mean=206.47s, total=206.47s, count=1, min=206471.8ms, max=206471.8ms
-  sensor_polling: mean=486.6ms, total=145.97s, count=300, min=452.1ms, max=745.1ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.5ms, max=9162.5ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=17.1ms, max=39.5ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4377.5ms, max=4377.5ms
-  task_sampling: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms
-  task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=467.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:31:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:31:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:31:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 14:31:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:31:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:31:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016052m
-[05/10 14:31:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:31:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:31:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:31:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06149047  0.86727862  0.01605226] yaw=-139.9deg
-[05/10 14:31:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:31:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85918114  0.149177    0.01605226] yaw=155.2deg
-[05/10 14:31:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:31:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:31:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms
-[05/10 14:31:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.867, 0.016)
-[05/10 14:31:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg
-[05/10 14:31:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.748m
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:31:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:31:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:31:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 14:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 14:31:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:31:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:31:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:31:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True
-[05/10 14:31:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.119[deg]
-[05/10 14:31:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:34:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:34:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:34:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:34:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 14:34:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:34:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:34:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.36s (batch: 4.30s, save: 9.07s)
-[05/10 14:34:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
-  episode_total: mean=190.52s, total=190.52s, count=1, min=190515.5ms, max=190515.5ms
-  sensor_polling: mean=487.8ms, total=142.93s, count=293, min=460.5ms, max=834.5ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9066.2ms, max=9066.2ms
-  physics_step: mean=22.7ms, total=6.64s, count=293, min=16.6ms, max=32.5ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.3ms, max=4297.3ms
-  task_sampling: mean=503.9ms, total=503.9ms, count=1, min=503.9ms, max=503.9ms
-  task_specific_sample: mean=500.0ms, total=500.0ms, count=1, min=500.0ms, max=500.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:34:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:34:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:34:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:34:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:34:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:34:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:34:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
-[05/10 14:34:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:34:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:34:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017434m
-[05/10 14:34:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:34:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:34:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18606042  0.95908229  0.01743426] yaw=-136.6deg
-[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9435368   0.4003814   0.01743426] yaw=182.0deg
-[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94126091  0.7906858   0.01743426] yaw=-149.9deg
-[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:34:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:34:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms
-[05/10 14:34:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.186, 0.959, 0.017)
-[05/10 14:34:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg
-[05/10 14:34:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.703m
-[05/10 14:34:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:34:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:34:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:34:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:34:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 14:34:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
-[05/10 14:34:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:34:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:34:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
-[05/10 14:34:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True
-[05/10 14:34:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.302[m] 90.256[deg]
-[05/10 14:34:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:35:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:35:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:37:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:37:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:37:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:37:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/10 14:37:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.779s, found feasible grasp: True
-[05/10 14:37:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
-[05/10 14:37:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:37:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:37:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:37:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 14:37:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:37:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:37:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038666m
-[05/10 14:37:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:37:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:37:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82987378  0.66938852  0.03866634] yaw=-160.9deg
-[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12425888  0.90465122  0.03866634] yaw=-149.3deg
-[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9136454   0.80075683  0.03866634] yaw=-161.4deg
-[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:37:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:37:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.8ms, total=252.9ms
-[05/10 14:37:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.669, 0.039)
-[05/10 14:37:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
-[05/10 14:37:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:37:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:37:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:37:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 14:37:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/10 14:37:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:37:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:37:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 14:37:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
-[05/10 14:37:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.631[deg]
-[05/10 14:37:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:37:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:37:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:38:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:40:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:40:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:40:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:40:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:40:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:40:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:40:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.49s (batch: 4.38s, save: 9.11s)
-[05/10 14:40:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
-  episode_total: mean=176.31s, total=352.62s, count=2, min=156538.8ms, max=196078.6ms
-  sensor_polling: mean=492.4ms, total=281.15s, count=571, min=455.2ms, max=908.0ms
-  physics_step: mean=22.5ms, total=12.83s, count=571, min=16.6ms, max=34.0ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9112.4ms, max=9112.4ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.6ms, max=4379.6ms
-  task_sampling: mean=538.9ms, total=1.08s, count=2, min=519.6ms, max=558.2ms
-  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=515.1ms, max=553.4ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=2.9ms
-  mj_forward_sync: mean=467.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:40:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:40:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:40:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
-[05/10 14:40:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:40:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:40:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048367m
-[05/10 14:40:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:40:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:40:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94208699  0.32712818 -0.04836731] yaw=178.6deg
-[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.844587    0.43306064 -0.04836731] yaw=177.3deg
-[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67235512  0.1475797  -0.04836731] yaw=165.4deg
-[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:40:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:40:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms
-[05/10 14:40:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.327, -0.048)
-[05/10 14:40:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg
-[05/10 14:40:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:40:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:40:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 14:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 14:40:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:40:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:40:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:40:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True
-[05/10 14:40:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 88.493[deg]
-[05/10 14:40:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:43:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:43:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:43:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:43:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 14:44:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:44:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:44:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.09s (batch: 4.34s, save: 8.75s)
-[05/10 14:44:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
-  episode_total: mean=193.72s, total=193.72s, count=1, min=193724.3ms, max=193724.3ms
-  sensor_polling: mean=496.9ms, total=145.59s, count=293, min=455.8ms, max=860.6ms
-  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.9ms, max=8749.9ms
-  physics_step: mean=24.2ms, total=7.08s, count=293, min=15.9ms, max=36.8ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.7ms, max=4340.7ms
-  task_sampling: mean=595.0ms, total=595.0ms, count=1, min=595.0ms, max=595.0ms
-  task_specific_sample: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:44:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:44:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:44:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
-[05/10 14:44:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:44:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:44:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028981m
-[05/10 14:44:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:44:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:44:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86825003  0.17066027 -0.02898124] yaw=148.1deg
-[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02683912  1.27200356 -0.02898124] yaw=-138.6deg
-[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64644395  0.62389012 -0.02898124] yaw=-171.9deg
-[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:44:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:44:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms
-[05/10 14:44:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.171, -0.029)
-[05/10 14:44:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg
-[05/10 14:44:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:44:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:44:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 14:44:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 14:44:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:44:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:44:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:44:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True
-[05/10 14:44:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 79.009[deg]
-[05/10 14:44:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:45:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:45:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:46:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:46:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:46:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:46:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:46:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:46:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:46:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
-[05/10 14:46:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.513s, found feasible grasp: True
-[05/10 14:46:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.240[deg]
-[05/10 14:46:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:46:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:46:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:46:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:47:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:47:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:47:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:47:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:47:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:47:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.32s (batch: 4.45s, save: 8.87s)
-[05/10 14:47:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s:
-  episode_total: mean=206.49s, total=206.49s, count=1, min=206492.6ms, max=206492.6ms
-  sensor_polling: mean=497.3ms, total=149.20s, count=300, min=454.8ms, max=804.0ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.6ms, max=8874.6ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=14.8ms, max=40.3ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4446.0ms, max=4446.0ms
-  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
-  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:47:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:47:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:47:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 14:47:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:47:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:47:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013990m
-[05/10 14:47:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:47:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:47:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94111771  0.2792047   0.01399007] yaw=176.5deg
-[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92634904  0.78002253  0.01399007] yaw=-155.3deg
-[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04438286  1.0654504   0.01399007] yaw=-138.3deg
-[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:47:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:47:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms
-[05/10 14:47:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.279, 0.014)
-[05/10 14:47:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg
-[05/10 14:47:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:47:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:47:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:47:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 14:47:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 14:47:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:47:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:47:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:47:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
-[05/10 14:47:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.334[m] 85.326[deg]
-[05/10 14:47:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:49:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:49:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:49:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:49:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:49:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/10 14:49:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.584s, found feasible grasp: True
-[05/10 14:49:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]
-[05/10 14:49:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:49:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:49:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:49:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:49:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:50:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:51:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:51:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:51:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:51:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:51:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:51:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.68s (batch: 4.21s, save: 8.47s)
-[05/10 14:51:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
-  episode_total: mean=224.29s, total=224.29s, count=1, min=224291.1ms, max=224291.1ms
-  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=441.3ms, max=742.6ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.4ms, max=8469.4ms
-  physics_step: mean=23.1ms, total=6.94s, count=300, min=13.1ms, max=36.0ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.7ms, max=4213.7ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:51:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:51:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:51:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)
-[05/10 14:51:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:51:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:51:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041555m
-[05/10 14:51:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:51:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:51:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95544721  0.89367978 -0.04155475] yaw=-150.0deg
-[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96929981  1.19142222 -0.04155475] yaw=-146.5deg
-[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82116976  0.52878201 -0.04155475] yaw=-176.6deg
-[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:51:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:51:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms
-[05/10 14:51:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.894, -0.042)
-[05/10 14:51:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg
-[05/10 14:51:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:51:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:51:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:51:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 14:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 14:51:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:51:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:51:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:51:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True
-[05/10 14:51:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 88.868[deg]
-[05/10 14:51:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:52:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:52:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:52:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:53:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:54:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:54:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:54:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:54:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:54:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:54:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.73s (batch: 4.28s, save: 8.46s)
-[05/10 14:54:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=187.11s, total=187.11s, count=1, min=187114.1ms, max=187114.1ms
-  sensor_polling: mean=470.8ms, total=141.24s, count=300, min=435.9ms, max=771.3ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8457.0ms, max=8457.0ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=18.8ms, max=33.6ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.5ms, max=4276.5ms
-  task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
-  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:54:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:54:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:54:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 14:54:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:54:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:54:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002977m
-[05/10 14:54:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:54:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:54:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95900184  0.7792959   0.00297682] yaw=-160.2deg
-[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:54:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23991714  1.05451995  0.00297682] yaw=-121.8deg
-[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:54:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71841063  0.66829297  0.00297682] yaw=-176.1deg
-[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:54:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:54:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.9ms, total=105.9ms
-[05/10 14:54:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.779, 0.003)
-[05/10 14:54:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg
-[05/10 14:54:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.801m
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:54:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:54:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 14:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 14:54:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:54:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:54:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:54:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.597s, found feasible grasp: True
-[05/10 14:54:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.392[m] 87.125[deg]
-[05/10 14:54:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 14:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 14:57:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:57:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:57:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.07s, save: 7.84s)
-[05/10 14:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
-  episode_total: mean=182.78s, total=182.78s, count=1, min=182783.1ms, max=182783.1ms
-  sensor_polling: mean=464.4ms, total=138.85s, count=299, min=425.5ms, max=780.9ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7844.3ms, max=7844.3ms
-  physics_step: mean=21.3ms, total=6.37s, count=299, min=15.9ms, max=61.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.0ms, max=4065.0ms
-  task_sampling: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
-  task_specific_sample: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:57:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:57:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)
-[05/10 14:57:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:57:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:57:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004876m
-[05/10 14:57:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:57:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:57:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73702545 -0.04230718 -0.00487609] yaw=159.7deg
-[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77181166  0.22294962 -0.00487609] yaw=171.2deg
-[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02525252  0.90440586 -0.00487609] yaw=-144.0deg
-[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=196.0ms
-[05/10 14:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, -0.042, -0.005)
-[05/10 14:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
-[05/10 14:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 14:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 14:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 14:57:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.969s, found feasible grasp: True
-[05/10 14:57:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.696[m] 98.445[deg]
-[05/10 14:57:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:57:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:57:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)
-[05/10 14:57:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:57:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:57:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044591m
-[05/10 14:57:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:57:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:57:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92352401  0.23366161 -0.04459072] yaw=155.5deg
-[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02124422  0.23782475 -0.04459072] yaw=155.3deg
-[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06467265  1.20860982 -0.04459072] yaw=-138.8deg
-[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:57:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:57:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms
-[05/10 14:57:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.234, -0.045)
-[05/10 14:57:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg
-[05/10 14:57:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.817m
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:57:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:57:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 14:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/10 14:57:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:57:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:57:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 14:57:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True
-[05/10 14:57:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 96.384[deg]
-[05/10 14:57:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:57:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:57:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:59:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:00:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 15:00:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
-[05/10 15:00:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:00:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:00:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 15:00:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 10.77s (batch: 3.12s, save: 7.65s)
-[05/10 15:00:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.88s:
-  episode_total: mean=82.91s, total=165.83s, count=2, min=4147.1ms, max=161678.7ms
-  sensor_polling: mean=400.6ms, total=120.19s, count=300, min=364.5ms, max=670.3ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.8ms, max=7647.8ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.5ms, max=23.4ms
-  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3123.6ms, max=3123.6ms
-  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=432.6ms, max=452.2ms
-  task_specific_sample: mean=438.7ms, total=877.3ms, count=2, min=428.9ms, max=448.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=530.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:00:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 15:00:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 15:00:24 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 15/15 successful episodes
-[05/10 15:00:24 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5967.73s
-  House averages:
-  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
-  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
-  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
-  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
-  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
-  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
-  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:00:24 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:00:24 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5967.73s
-  Worker averages:
-  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
-  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
-  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
-  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
-  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
-  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
-  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
-  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
-  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
-  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
-  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
-  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
-  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
-  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
-  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
-  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:00:26 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:00:26 INFO pipeline.py:1491] Success count: 15, Total count: 15
-[05/10 15:00:26 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
-==========================================
diff --git a/fridge_7/chunk_001/shard_4_of_4.log b/fridge_7/chunk_001/shard_4_of_4.log
deleted file mode 100644
index 26d470128237ba6c3a467970e38b61a94143d328..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_001/shard_4_of_4.log
+++ /dev/null
@@ -1,1639 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
-  shard=4/4  seed=20104  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x792d83e5f690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20104,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 133236387462928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133236387462928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 133236387462928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133236387462928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 133236392064592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133236392064592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133236392066064 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133236392066064 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133236392066064 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133236392066064 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133236392064592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133236392064592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133236385510672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133236385510672 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133236385511056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133236385511056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 133236385511056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133236385511056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133236385510672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133236385510672 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 14:05:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57f2741da9c0 at 0x792d83f35910>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57f274208560 at 0x792d83b32d90>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57f274208560 at 0x792d840c6c50>
-[05/10 14:05:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
-[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048169m
-[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69125629  0.08027645 -0.04816931] yaw=161.2deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83807354  0.40816477 -0.04816931] yaw=180.3deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94443861  0.29547828 -0.04816931] yaw=166.2deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=36.3ms, retries=256.7ms, total=293.0ms
-[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.080, -0.048)
-[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg
-[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 14:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.633s
-[05/10 14:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:06:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps
-[05/10 14:06:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.199s, found feasible grasp: True
-[05/10 14:06:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.661[m] 83.886[deg]
-[05/10 14:06:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:06:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:06:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:06:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)
-[05/10 14:06:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:06:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:06:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037745m
-[05/10 14:06:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:06:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:06:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:06:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88134725  0.25156694 -0.03774461] yaw=165.4deg
-[05/10 14:06:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:06:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86567     0.10700006 -0.03774461] yaw=163.1deg
-[05/10 14:06:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:06:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:06:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms
-[05/10 14:06:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.252, -0.038)
-[05/10 14:06:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
-[05/10 14:06:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:06:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:06:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:06:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 14:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 14:06:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:06:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:06:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:06:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True
-[05/10 14:06:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.417[m] 86.517[deg]
-[05/10 14:06:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:07:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:07:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:08:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.421s, found feasible grasp: True
-[05/10 14:08:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.206[deg]
-[05/10 14:08:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:09:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 14:09:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:09:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:09:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:09:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 14:09:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:09:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.14s (batch: 4.38s, save: 8.76s)
-[05/10 14:09:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.36s:
-  episode_total: mean=121.18s, total=242.35s, count=2, min=35900.7ms, max=206451.3ms
-  sensor_polling: mean=483.5ms, total=145.05s, count=300, min=462.3ms, max=603.4ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.8ms, max=8756.8ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=30.3ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4381.4ms, max=4381.4ms
-  task_sampling: mean=2.18s, total=4.36s, count=2, min=463.8ms, max=3896.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  task_specific_sample: mean=529.1ms, total=1.06s, count=2, min=461.1ms, max=597.1ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
-  mj_forward_sync: mean=693.9us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
-  policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:09:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:09:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:09:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:09:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:09:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:09:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:09:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)
-[05/10 14:09:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:09:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:09:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002766m
-[05/10 14:09:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:09:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:09:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:09:59 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.6ms, total=166.6ms
-[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 14:09:59 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 14:10:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:10:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:10:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 14:10:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:10:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:10:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007892m
-[05/10 14:10:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:10:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:10:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:10:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95481712  0.55876433  0.00789238] yaw=-182.5deg
-[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08122887  0.8956589   0.00789238] yaw=-142.4deg
-[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02348414  0.18297724  0.00789238] yaw=145.6deg
-[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:10:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:10:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
-[05/10 14:10:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.559, 0.008)
-[05/10 14:10:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg
-[05/10 14:10:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:10:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:10:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:10:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 14:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 14:10:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:10:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:10:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 14:10:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True
-[05/10 14:10:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.327[m] 90.535[deg]
-[05/10 14:10:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:10:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:12:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:12:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:12:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:12:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps
-[05/10 14:13:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:13:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:13:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.41s (batch: 4.12s, save: 8.28s)
-[05/10 14:13:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
-  episode_total: mean=92.17s, total=184.34s, count=2, min=178.3ms, max=184164.2ms
-  sensor_polling: mean=479.5ms, total=137.13s, count=286, min=453.1ms, max=704.2ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8284.0ms, max=8284.0ms
-  physics_step: mean=24.5ms, total=7.01s, count=286, min=16.3ms, max=40.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.9ms, max=4124.9ms
-  task_specific_sample: mean=275.7ms, total=551.3ms, count=2, min=172.1ms, max=379.2ms
-  task_sampling: mean=382.2ms, total=382.2ms, count=1, min=382.2ms, max=382.2ms
-  task_sampling_failed: mean=178.3ms, total=178.3ms, count=1, min=178.3ms, max=178.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=433.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 14:13:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:13:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:13:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)
-[05/10 14:13:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:13:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:13:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045616m
-[05/10 14:13:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:13:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:13:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89849137  0.52992825 -0.0456164 ] yaw=-175.0deg
-[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:13:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18856068  0.97996157 -0.0456164 ] yaw=-140.1deg
-[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11712477  0.93137096 -0.0456164 ] yaw=-132.1deg
-[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:13:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:13:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.8ms
-[05/10 14:13:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.530, -0.046)
-[05/10 14:13:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg
-[05/10 14:13:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.805m
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:13:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:13:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 14:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 14:13:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:13:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:13:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 14:13:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True
-[05/10 14:13:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 94.585[deg]
-[05/10 14:13:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:15:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:16:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:16:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:16:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:16:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:16:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:16:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.41s (batch: 4.30s, save: 9.12s)
-[05/10 14:16:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
-  episode_total: mean=195.31s, total=195.31s, count=1, min=195310.8ms, max=195310.8ms
-  sensor_polling: mean=483.0ms, total=144.89s, count=300, min=453.7ms, max=735.7ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.8ms, max=9117.8ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.6ms, max=34.3ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.1ms, max=4295.1ms
-  task_sampling: mean=398.6ms, total=398.6ms, count=1, min=398.6ms, max=398.6ms
-  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:16:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:16:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:16:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 14:16:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:16:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:16:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035141m
-[05/10 14:16:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:16:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:16:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97514845  0.20865218  0.03514068] yaw=156.3deg
-[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83401297  0.81676644  0.03514068] yaw=-161.2deg
-[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03018768  1.16249068  0.03514068] yaw=-140.4deg
-[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:16:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:16:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.3ms
-[05/10 14:16:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.209, 0.035)
-[05/10 14:16:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg
-[05/10 14:16:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:16:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:16:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:16:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 14:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:16:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:16:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:16:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 14:16:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 14:16:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.315[m] 80.006[deg]
-[05/10 14:16:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:17:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:17:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:18:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:18:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:18:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:18:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
-[05/10 14:18:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True
-[05/10 14:18:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.274[deg]
-[05/10 14:18:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:18:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:18:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:18:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 14:18:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:18:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:18:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025100m
-[05/10 14:18:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:18:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:18:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:18:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07153121  1.24383276  0.02509963] yaw=-119.6deg
-[05/10 14:18:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:18:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13561491  1.10709203  0.02509963] yaw=-129.6deg
-[05/10 14:18:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:18:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:18:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.4ms, total=266.5ms
-[05/10 14:18:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.244, 0.025)
-[05/10 14:18:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg
-[05/10 14:18:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.989m
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:18:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:18:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:18:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 14:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 14:18:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:18:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:18:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:18:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True
-[05/10 14:18:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.544[m] 81.534[deg]
-[05/10 14:18:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps
-[05/10 14:20:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 1.773s, found feasible grasp: False
-[05/10 14:20:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 14:20:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:20:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:20:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)
-[05/10 14:20:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:20:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:20:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020229m
-[05/10 14:20:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:20:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:20:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8942734   1.19744634 -0.02022881] yaw=-127.5deg
-[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89133768  0.76884576 -0.02022881] yaw=-158.8deg
-[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03225475  0.89598383 -0.02022881] yaw=-148.9deg
-[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:20:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:20:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms
-[05/10 14:20:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 1.197, -0.020)
-[05/10 14:20:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg
-[05/10 14:20:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:20:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 14:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 14:20:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:20:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:20:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 14:20:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True
-[05/10 14:20:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.703[m] 102.299[deg]
-[05/10 14:20:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:20:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:20:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:20:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 14:20:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:20:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:20:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026751m
-[05/10 14:20:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:20:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:20:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:23 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.0ms, total=174.0ms
-[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 14:20:23 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 14:20:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:20:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:20:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
-[05/10 14:20:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:20:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:20:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015089m
-[05/10 14:20:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:20:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:20:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:20:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7794751   0.62967367 -0.01508897] yaw=-172.1deg
-[05/10 14:20:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87277282  0.50430861 -0.01508897] yaw=-187.1deg
-[05/10 14:20:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:20:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:20:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms
-[05/10 14:20:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.630, -0.015)
-[05/10 14:20:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg
-[05/10 14:20:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:20:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:20:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:20:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 14:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 14:20:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:20:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:20:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 14:20:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
-[05/10 14:20:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.490[m] 88.945[deg]
-[05/10 14:20:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:21:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:22:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:23:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:23:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:23:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:23:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:23:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:23:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.59s (batch: 3.83s, save: 8.76s)
-[05/10 14:23:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.88s:
-  episode_total: mean=84.65s, total=423.24s, count=5, min=183.8ms, max=189338.8ms
-  sensor_polling: mean=483.5ms, total=329.27s, count=681, min=433.8ms, max=838.7ms
-  physics_step: mean=22.3ms, total=15.18s, count=681, min=15.6ms, max=38.2ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8764.3ms, max=8764.3ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.0ms, max=3827.0ms
-  task_specific_sample: mean=408.7ms, total=2.04s, count=5, min=178.5ms, max=542.7ms
-  task_sampling: mean=469.7ms, total=1.88s, count=4, min=417.5ms, max=545.9ms
-  task_sampling_failed: mean=183.8ms, total=183.8ms, count=1, min=183.8ms, max=183.8ms
-  scene_randomize: mean=1.7ms, total=8.3ms, count=5, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=431.8us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/10 14:23:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:23:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)
-[05/10 14:23:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:23:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:23:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040736m
-[05/10 14:23:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:23:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:23:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79282446  0.72311692 -0.04073633] yaw=-170.0deg
-[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69299362  0.52228128 -0.04073633] yaw=-183.4deg
-[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04882899  1.28335603 -0.04073633] yaw=-136.4deg
-[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:23:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:23:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms
-[05/10 14:23:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.723, -0.041)
-[05/10 14:23:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg
-[05/10 14:23:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:23:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:23:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:23:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 14:23:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True
-[05/10 14:23:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.499[m] 89.644[deg]
-[05/10 14:23:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:24:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:26:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:26:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:26:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:26:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:26:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:26:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.97s (batch: 4.39s, save: 8.58s)
-[05/10 14:26:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=187.87s, total=187.87s, count=1, min=187871.5ms, max=187871.5ms
-  sensor_polling: mean=473.0ms, total=141.89s, count=300, min=449.3ms, max=650.5ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.0ms, max=8580.0ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.4ms, max=32.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.5ms, max=4391.5ms
-  task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
-  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:26:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:26:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)
-[05/10 14:26:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:26:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:26:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034466m
-[05/10 14:26:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:26:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:26:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67683357  0.45327974 -0.03446587] yaw=188.7deg
-[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0120703   0.32471474 -0.03446587] yaw=162.3deg
-[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:26:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:26:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms
-[05/10 14:26:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.453, -0.034)
-[05/10 14:26:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.7 deg
-[05/10 14:26:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:26:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 14:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True
-[05/10 14:26:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.916[deg]
-[05/10 14:26:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:29:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:29:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:29:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:29:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:29:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:29:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:29:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.83s (batch: 4.36s, save: 8.47s)
-[05/10 14:29:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.68s:
-  episode_total: mean=189.85s, total=189.85s, count=1, min=189849.9ms, max=189849.9ms
-  sensor_polling: mean=481.6ms, total=144.48s, count=300, min=452.1ms, max=683.2ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.4ms, max=8466.4ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.3ms, max=33.7ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.1ms, max=4361.1ms
-  task_sampling: mean=676.6ms, total=676.6ms, count=1, min=676.6ms, max=676.6ms
-  task_specific_sample: mean=672.5ms, total=672.5ms, count=1, min=672.5ms, max=672.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=423.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:29:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:29:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:29:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
-[05/10 14:29:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:29:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:29:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002162m
-[05/10 14:29:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:29:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:29:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:29:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81393293  0.40537927  0.00216236] yaw=180.1deg
-[05/10 14:29:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:29:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84176848  0.29764408  0.00216236] yaw=161.6deg
-[05/10 14:29:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:29:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:29:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.5ms
-[05/10 14:29:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.405, 0.002)
-[05/10 14:29:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.1 deg
-[05/10 14:29:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:29:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 14:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 14:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 14:29:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True
-[05/10 14:29:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 103.074[deg]
-[05/10 14:29:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:31:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:32:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:32:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:32:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:32:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:33:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:33:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:33:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.29s (batch: 4.32s, save: 8.97s)
-[05/10 14:33:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=196.50s, total=196.50s, count=1, min=196501.4ms, max=196501.4ms
-  sensor_polling: mean=490.2ms, total=147.06s, count=300, min=447.4ms, max=709.3ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8972.5ms, max=8972.5ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=15.6ms, max=30.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.9ms, max=4319.9ms
-  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
-  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=411.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:33:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:33:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:33:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 14:33:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:33:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:33:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008099m
-[05/10 14:33:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:33:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:33:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93417647  0.67872928  0.00809918] yaw=-167.5deg
-[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68936237  0.47493719  0.00809918] yaw=187.8deg
-[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78377112  0.67012814  0.00809918] yaw=-175.4deg
-[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:33:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:33:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=276.3ms, total=276.3ms
-[05/10 14:33:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.679, 0.008)
-[05/10 14:33:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/10 14:33:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:33:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:33:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:33:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 14:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 14:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:33:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
-[05/10 14:33:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.366[m] 94.479[deg]
-[05/10 14:33:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:35:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:36:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:36:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:36:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
-[05/10 14:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.24s (batch: 4.29s, save: 8.95s)
-[05/10 14:36:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
-  episode_total: mean=190.16s, total=190.16s, count=1, min=190164.7ms, max=190164.7ms
-  sensor_polling: mean=488.7ms, total=144.16s, count=295, min=455.0ms, max=681.2ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8948.3ms, max=8948.3ms
-  physics_step: mean=22.5ms, total=6.64s, count=295, min=16.4ms, max=31.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.2ms, max=4288.2ms
-  task_sampling: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms
-  task_specific_sample: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:36:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:36:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:36:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)
-[05/10 14:36:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:36:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:36:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012607m
-[05/10 14:36:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:36:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:36:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02800107  0.74212275 -0.01260679] yaw=-150.2deg
-[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67419211  0.82398671 -0.01260679] yaw=-169.8deg
-[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07674616  1.13075256 -0.01260679] yaw=-130.3deg
-[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:36:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:36:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms
-[05/10 14:36:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.742, -0.013)
-[05/10 14:36:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg
-[05/10 14:36:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.723m
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:36:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:36:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 14:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 14:36:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.600s, found feasible grasp: True
-[05/10 14:36:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.287[m] 83.214[deg]
-[05/10 14:36:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:38:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:39:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:39:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:39:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 279 timesteps
-[05/10 14:39:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:39:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:39:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.57s (batch: 4.25s, save: 8.33s)
-[05/10 14:39:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
-  episode_total: mean=180.73s, total=180.73s, count=1, min=180734.6ms, max=180734.6ms
-  sensor_polling: mean=491.0ms, total=136.51s, count=278, min=467.2ms, max=763.3ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8325.9ms, max=8325.9ms
-  physics_step: mean=22.7ms, total=6.30s, count=278, min=16.2ms, max=83.8ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.5ms, max=4247.5ms
-  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
-  task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=485.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:39:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:39:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:39:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 14:39:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:39:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:39:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020273m
-[05/10 14:39:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:39:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:39:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01622299  0.73026119  0.02027251] yaw=-169.3deg
-[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00297186  0.70286383  0.02027251] yaw=-152.9deg
-[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02887967  0.74812847  0.02027251] yaw=-168.7deg
-[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:39:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:39:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.3ms, total=173.3ms
-[05/10 14:39:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.730, 0.020)
-[05/10 14:39:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.3 deg
-[05/10 14:39:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.730m
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:39:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:39:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 14:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:39:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:39:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:39:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 14:39:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True
-[05/10 14:39:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.336[m] 96.185[deg]
-[05/10 14:39:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:42:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:42:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:42:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/10 14:42:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:42:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:42:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 14.21s (batch: 4.21s, save: 10.00s)
-[05/10 14:42:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
-  episode_total: mean=188.57s, total=188.57s, count=1, min=188567.1ms, max=188567.1ms
-  sensor_polling: mean=490.6ms, total=141.29s, count=288, min=455.0ms, max=692.6ms
-  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9997.3ms, max=9997.3ms
-  physics_step: mean=23.2ms, total=6.68s, count=288, min=17.1ms, max=35.3ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.0ms, max=4211.0ms
-  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
-  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=433.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:42:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:42:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
-[05/10 14:42:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:42:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:42:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014618m
-[05/10 14:42:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:42:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:42:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68837046  0.40970926 -0.01461789] yaw=178.3deg
-[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80869465  0.83185284 -0.01461789] yaw=-154.2deg
-[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86752704  0.34859691 -0.01461789] yaw=167.4deg
-[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:42:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:42:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms
-[05/10 14:42:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.410, -0.015)
-[05/10 14:42:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg
-[05/10 14:42:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.017m
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:42:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:42:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:42:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 14:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 14:42:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:42:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:42:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps
-[05/10 14:42:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/10 14:42:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.579[m] 90.968[deg]
-[05/10 14:42:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:43:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:45:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 14:45:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:45:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
-[05/10 14:45:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 14:45:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 14:45:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
-[05/10 14:45:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.78s (batch: 4.91s, save: 8.87s)
-[05/10 14:45:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s:
-  episode_total: mean=192.25s, total=192.25s, count=1, min=192250.3ms, max=192250.3ms
-  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=450.0ms, max=643.3ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.2ms, max=8869.2ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.4ms, max=30.8ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4910.1ms, max=4910.1ms
-  task_sampling: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
-  task_specific_sample: mean=522.3ms, total=522.3ms, count=1, min=522.3ms, max=522.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 14:45:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 14:45:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:45:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)
-[05/10 14:45:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 14:45:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 14:45:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039477m
-[05/10 14:45:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
-[05/10 14:45:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 14:45:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
-[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13657809  1.09979939 -0.03947692] yaw=-122.6deg
-[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73445149  0.90373671 -0.03947692] yaw=-167.8deg
-[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95759567  0.13257738 -0.03947692] yaw=159.8deg
-[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 14:45:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 14:45:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms
-[05/10 14:45:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.100, -0.039)
-[05/10 14:45:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.6 deg
-[05/10 14:45:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.838m
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 14:45:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 14:45:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 14:45:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 14:45:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 14:45:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:45:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:45:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 14:45:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.745s, found feasible grasp: True
-[05/10 14:45:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.448[m] 94.278[deg]
-[05/10 14:45:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 14:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 14:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 14:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 14:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 14:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 14:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 14:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 14:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 14:48:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 14:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 14:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 14:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 14:48:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 14:48:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 14:48:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 14:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.736s, found feasible grasp: True
-[05/10 14:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.779[deg]
-[05/10 14:48:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 14:48:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 14:48:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
-[05/10 14:48:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
-[05/10 14:48:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4666.86s
-  House averages:
-  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
-  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
-  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
-  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
-  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
-  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
-  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
-  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 14:48:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 14:48:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4666.86s
-  Worker averages:
-  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
-  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
-  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
-  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
-  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
-  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
-  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
-  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
-  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
-  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
-  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
-  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
-  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
-  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
-  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 14:48:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 14:48:29 INFO pipeline.py:1491] Success count: 11, Total count: 11
-[05/10 14:48:29 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
-==========================================
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-05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:00:54 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x749ca6f75b10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
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-                                'gripper': [0.00296, 0.00296]},
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-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
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-                 'joint_index': 0,
-                 'joint_name': None,
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-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
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-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
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-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:00:54 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x6ffc04edab90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20204,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:00:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:00:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:00:54 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7e451c2c8250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20203,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:00:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:00:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:00:55 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:00:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:00:55 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x766e8ad0a310>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20201,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:00:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:00:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:00:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:00:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053209m	[env.py: 870]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069727m	[env.py: 870]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78023289  0.25399705  0.06972744] yaw=175.1deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036580m	[env.py: 870]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08544823  1.25047879  0.05320852] yaw=-135.9deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88498926  0.94101857  0.05320852] yaw=-140.7deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89884597  0.91028408  0.03658038] yaw=-141.5deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12271724  1.21008531  0.06972744] yaw=-137.8deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15053653  1.00781717  0.03658038] yaw=-125.3deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=11.7ms, retries=287.4ms, total=299.2ms	[env.py: 1075]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.250, 0.053)	[env.py: 1079]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00025005  0.97762813  0.03658038] yaw=-143.7deg	[env.py: 1019]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=18.0ms, retries=195.5ms, total=213.5ms	[env.py: 1075]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.910, 0.037)	[env.py: 1079]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=18.7ms, retries=437.3ms, total=455.9ms	[env.py: 1075]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.254, 0.070)	[env.py: 1079]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg	[env.py: 1082]
-05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:00:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:00:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:00:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:00:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051103m	[env.py: 870]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:00:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6891747   0.70851847  0.05110259] yaw=-172.9deg	[env.py: 1019]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03203777  1.00534542  0.05110259] yaw=-133.3deg	[env.py: 1019]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98854436  1.08197534  0.05110259] yaw=-148.8deg	[env.py: 1019]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=11.8ms, retries=79.3ms, total=91.2ms	[env.py: 1075]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.709, 0.051)	[env.py: 1079]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
-05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:01:21 INFO: [Worker 0] Warmed up parallel IK solver in 23.521s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:01:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:01:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:01:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 23.939s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 24.706s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:01:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:01:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 99.326[deg]	[grasp_sample.py: 539]
-05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:01:23 INFO: [Worker 0] Warmed up parallel IK solver in 24.862s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:01:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:01:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:01:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 85.895[deg]	[grasp_sample.py: 539]
-05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:01:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:01:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 89.179[deg]	[grasp_sample.py: 539]
-05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.508[m] 86.733[deg]	[grasp_sample.py: 539]
-05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:01:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:01:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:02:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:02:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:02:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:03:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:03:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:03:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:03:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:03:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:03:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.612[deg]	[grasp_sample.py: 539]
-05/10 15:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:03:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:03:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:03:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:03:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:03:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:03:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:03:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:03:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.829[deg]	[grasp_sample.py: 539]
-05/10 15:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:35 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:03:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:03:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:03:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:03:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:03:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:03:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:03:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053249m	[env.py: 870]
-05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:03:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76947175  0.82204472  0.05324942] yaw=-168.3deg	[env.py: 1019]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92157622  0.77025892  0.05324942] yaw=-163.4deg	[env.py: 1019]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85212985  0.82298881  0.05324942] yaw=-147.3deg	[env.py: 1019]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:03:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.8ms	[env.py: 1075]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.822, 0.053)	[env.py: 1079]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
-05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:03:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:03:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:03:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:03:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:03:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:03:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:03:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 92.419[deg]	[grasp_sample.py: 539]
-05/10 15:03:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:03:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:03:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:39 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:03:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:03:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:03:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.318s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:03:46 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.774[deg]	[grasp_sample.py: 539]
-05/10 15:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:03:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:03:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:03:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:03:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:03:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:03:55 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 15:03:55 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.33s:
-  episode_total: mean=180.92s, total=180.92s, count=1, min=180917.1ms, max=180917.1ms
-  sensor_polling: mean=419.5ms, total=125.86s, count=300, min=389.3ms, max=544.1ms
-  physics_step: mean=18.2ms, total=5.46s, count=300, min=15.0ms, max=30.7ms
-  task_sampling: mean=3.33s, total=3.33s, count=1, min=3329.4ms, max=3329.4ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  task_specific_sample: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:03:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:03:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:03:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085045m	[env.py: 870]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74069557  0.41509991  0.08504468] yaw=185.7deg	[env.py: 1019]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0465061   1.04210827  0.08504468] yaw=-146.7deg	[env.py: 1019]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93691723  0.93716346  0.08504468] yaw=-144.4deg	[env.py: 1019]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms	[env.py: 1075]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.415, 0.085)	[env.py: 1079]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg	[env.py: 1082]
-05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:03:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:03:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:03:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:03:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:03:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:03:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 83.962[deg]	[grasp_sample.py: 539]
-05/10 15:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:03:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:03:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:03:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:03:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:03:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:04:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:04:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.71s, save: 7.59s)	[pipeline.py: 300]
-05/10 15:04:06 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.26s:
-  episode_total: mean=192.06s, total=192.06s, count=1, min=192057.3ms, max=192057.3ms
-  sensor_polling: mean=417.1ms, total=125.13s, count=300, min=396.1ms, max=667.9ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.2ms, max=7589.2ms
-  physics_step: mean=18.6ms, total=5.59s, count=300, min=14.1ms, max=28.0ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3709.9ms, max=3709.9ms
-  task_sampling: mean=3.26s, total=3.26s, count=1, min=3255.3ms, max=3255.3ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  task_specific_sample: mean=550.3ms, total=550.3ms, count=1, min=550.3ms, max=550.3ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=46.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:04:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082377m	[env.py: 870]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96994627  0.73308291  0.08237687] yaw=-158.5deg	[env.py: 1019]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89392284  0.18969515  0.08237687] yaw=158.9deg	[env.py: 1019]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91710894  0.65932631  0.08237687] yaw=-165.4deg	[env.py: 1019]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms	[env.py: 1075]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.733, 0.082)	[env.py: 1079]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
-05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:04:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:04:08 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:04:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:04:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:04:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:04:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:04:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 103.583[deg]	[grasp_sample.py: 539]
-05/10 15:04:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:04:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:04:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:04:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.43s (batch: 3.86s, save: 7.58s)	[pipeline.py: 300]
-05/10 15:04:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:04:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:10 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.07s:
-  episode_total: mean=195.20s, total=195.20s, count=1, min=195197.9ms, max=195197.9ms
-  sensor_polling: mean=425.4ms, total=127.63s, count=300, min=397.2ms, max=599.1ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7575.4ms, max=7575.4ms
-  physics_step: mean=18.7ms, total=5.61s, count=300, min=15.5ms, max=27.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
-  task_sampling: mean=3.07s, total=3.07s, count=1, min=3072.7ms, max=3072.7ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  task_specific_sample: mean=330.7ms, total=330.7ms, count=1, min=330.7ms, max=330.7ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=438.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:04:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:04:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:04:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:04:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025738m	[env.py: 870]
-05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81251336  0.40575623  0.02573833] yaw=164.3deg	[env.py: 1019]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63638621  0.53433413  0.02573833] yaw=-182.8deg	[env.py: 1019]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:04:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.406, 0.026)	[env.py: 1079]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
-05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:04:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:04:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:04:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:04:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:04:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:04:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:04:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:04:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 96.677[deg]	[grasp_sample.py: 539]
-05/10 15:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:04:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:04:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:04:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:04:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:04:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:04:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:05:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:05:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:05:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:06:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:06:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:06:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:06:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:06:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.104[deg]	[grasp_sample.py: 539]
-05/10 15:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.62s (batch: 4.22s, save: 7.40s)	[pipeline.py: 300]
-05/10 15:06:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.37s:
-  episode_total: mean=164.55s, total=329.11s, count=2, min=160887.4ms, max=168217.8ms
-  sensor_polling: mean=425.9ms, total=240.62s, count=565, min=368.4ms, max=615.7ms
-  physics_step: mean=19.4ms, total=10.94s, count=565, min=14.2ms, max=32.9ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7400.7ms, max=7400.7ms
-  task_sampling: mean=2.19s, total=4.37s, count=2, min=587.7ms, max=3783.9ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.5ms, max=4223.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  task_specific_sample: mean=679.3ms, total=1.36s, count=2, min=585.2ms, max=773.4ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.7us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:06:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:06:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:06:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087335m	[env.py: 870]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70560077  0.50577496  0.08733465] yaw=-167.4deg	[env.py: 1019]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67504379  0.57067181  0.08733465] yaw=-177.3deg	[env.py: 1019]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91832578  0.79003984  0.08733465] yaw=-166.8deg	[env.py: 1019]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms	[env.py: 1075]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.506, 0.087)	[env.py: 1079]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:06:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:06:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:06:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:06:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:06:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:06:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:06:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:06:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 95.117[deg]	[grasp_sample.py: 539]
-05/10 15:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:06:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:06:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:06:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:06:29 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:06:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:06:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:06:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:06:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:06:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:06:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:06:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:06:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:06:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:06:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:06:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:06:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.34s (batch: 3.84s, save: 7.50s)	[pipeline.py: 300]
-05/10 15:06:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
-  episode_total: mean=170.28s, total=170.28s, count=1, min=170279.5ms, max=170279.5ms
-  sensor_polling: mean=433.3ms, total=130.00s, count=300, min=396.0ms, max=689.4ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7496.9ms, max=7496.9ms
-  physics_step: mean=19.1ms, total=5.72s, count=300, min=14.1ms, max=28.8ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.3ms, max=3843.3ms
-  task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms
-  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=401.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:07:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032421m	[env.py: 870]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84023761  0.2740782   0.03242079] yaw=171.6deg	[env.py: 1019]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms	[env.py: 1075]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.274, 0.032)	[env.py: 1079]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
-05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:07:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:07:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:07:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:07:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:07:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:07:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:07:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.41s (batch: 3.98s, save: 7.43s)	[pipeline.py: 300]
-05/10 15:07:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:07:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.417[m] 82.088[deg]	[grasp_sample.py: 539]
-05/10 15:07:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:07:01 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.31s:
-  episode_total: mean=184.32s, total=184.32s, count=1, min=184319.6ms, max=184319.6ms
-  sensor_polling: mean=428.4ms, total=128.51s, count=300, min=378.5ms, max=633.3ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.7ms, max=7429.7ms
-  physics_step: mean=18.2ms, total=5.47s, count=300, min=12.3ms, max=28.9ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.5ms, max=3980.5ms
-  task_sampling: mean=310.2ms, total=310.2ms, count=1, min=310.2ms, max=310.2ms
-  task_specific_sample: mean=307.8ms, total=307.8ms, count=1, min=307.8ms, max=307.8ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:07:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:07:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:07:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.65s (batch: 3.84s, save: 7.80s)	[pipeline.py: 300]
-05/10 15:07:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
-  episode_total: mean=171.06s, total=171.06s, count=1, min=171060.8ms, max=171060.8ms
-  sensor_polling: mean=426.4ms, total=127.92s, count=300, min=384.6ms, max=620.9ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7802.4ms, max=7802.4ms
-  physics_step: mean=20.1ms, total=6.04s, count=300, min=14.8ms, max=29.8ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.8ms, total=452.8ms, count=1, min=452.8ms, max=452.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=383.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:07:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:07:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:07:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:07:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:07:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:07:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000002m	[env.py: 870]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:07:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07902449e-01  7.88697449e-01  2.41280722e-06] yaw=-169.0deg	[env.py: 1019]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.96010881e-01  1.10399013e+00  2.41280722e-06] yaw=-141.1deg	[env.py: 1019]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-6.59977840e-01  7.48446373e-01  2.41280722e-06] yaw=-165.3deg	[env.py: 1019]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.2ms, total=180.3ms	[env.py: 1075]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.789, 0.000)	[env.py: 1079]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:07:03 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:07:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036849m	[env.py: 870]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12790014  1.17801895  0.03684898] yaw=-122.9deg	[env.py: 1019]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93997321  0.84389195  0.03684898] yaw=-159.5deg	[env.py: 1019]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73304657  0.2382169   0.03684898] yaw=170.9deg	[env.py: 1019]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms	[env.py: 1075]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.178, 0.037)	[env.py: 1079]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg	[env.py: 1082]
-05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:07:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:07:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 86.671[deg]	[grasp_sample.py: 539]
-05/10 15:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:07:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:07:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:07:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 80.244[deg]	[grasp_sample.py: 539]
-05/10 15:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:07:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:07:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:08:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:08:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:09:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:09:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:09:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:09:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:09:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:09:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:09:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:09:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:09:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:09:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.023[deg]	[grasp_sample.py: 539]
-05/10 15:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:09:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:09:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:09:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:09:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.335[deg]	[grasp_sample.py: 539]
-05/10 15:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:09:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032027m	[env.py: 870]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92212591  0.49160605  0.03202726] yaw=-190.7deg	[env.py: 1019]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84923984  0.53764319  0.03202726] yaw=-181.3deg	[env.py: 1019]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81781825  0.98265701  0.03202726] yaw=-141.6deg	[env.py: 1019]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms	[env.py: 1075]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.492, 0.032)	[env.py: 1079]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.7 deg	[env.py: 1082]
-05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:09:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:09:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 97.342[deg]	[grasp_sample.py: 539]
-05/10 15:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.28s (batch: 3.97s, save: 7.31s)	[pipeline.py: 300]
-05/10 15:09:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
-  episode_total: mean=174.89s, total=174.89s, count=1, min=174889.2ms, max=174889.2ms
-  sensor_polling: mean=424.2ms, total=127.25s, count=300, min=368.0ms, max=647.7ms
-  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7312.4ms, max=7312.4ms
-  physics_step: mean=19.0ms, total=5.71s, count=300, min=14.0ms, max=35.4ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3967.4ms, max=3967.4ms
-  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
-  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:09:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031032m	[env.py: 870]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92378805  0.74801072  0.03103215] yaw=-169.0deg	[env.py: 1019]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98838141  0.09653354  0.03103215] yaw=151.6deg	[env.py: 1019]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6800414   0.09464083  0.03103215] yaw=157.3deg	[env.py: 1019]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=104.9ms	[env.py: 1075]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.748, 0.031)	[env.py: 1079]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:09:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:09:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:09:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:09:24 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.410[m] 84.474[deg]	[grasp_sample.py: 539]
-05/10 15:09:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:09:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:09:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:09:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:40 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:09:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:09:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:09:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:09:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:09:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:10:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:10:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:10:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:10:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:10:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:10:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:10:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.57s (batch: 3.71s, save: 7.86s)	[pipeline.py: 300]
-05/10 15:10:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
-  episode_total: mean=180.59s, total=180.59s, count=1, min=180593.2ms, max=180593.2ms
-  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=375.9ms, max=678.7ms
-  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7864.7ms, max=7864.7ms
-  physics_step: mean=20.1ms, total=6.03s, count=300, min=15.2ms, max=56.6ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.4ms, max=3707.4ms
-  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
-  task_specific_sample: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:10:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:10:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:10:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095425m	[env.py: 870]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65203013  0.34418261  0.09542541] yaw=175.2deg	[env.py: 1019]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms	[env.py: 1075]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.344, 0.095)	[env.py: 1079]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
-05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:10:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:10:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:10:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:10:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 82.406[deg]	[grasp_sample.py: 539]
-05/10 15:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:10:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:10:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:10:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:10:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.41s (batch: 4.16s, save: 11.25s)	[pipeline.py: 300]
-05/10 15:10:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:10:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=198.28s, total=198.28s, count=1, min=198279.6ms, max=198279.6ms
-  sensor_polling: mean=450.3ms, total=135.10s, count=300, min=399.2ms, max=680.4ms
-  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11247.3ms, max=11247.3ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.0ms, max=71.3ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.3ms, max=4158.3ms
-  task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
-  task_specific_sample: mean=444.2ms, total=444.2ms, count=1, min=444.2ms, max=444.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:10:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:10:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:10:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:10:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:10:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:10:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:10:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077367m	[env.py: 870]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:10:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99368348  0.15498562  0.07736748] yaw=145.1deg	[env.py: 1019]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05468775  0.90873179  0.07736748] yaw=-144.0deg	[env.py: 1019]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88689625  0.48472662  0.07736748] yaw=-188.5deg	[env.py: 1019]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:10:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms	[env.py: 1075]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, 0.077)	[env.py: 1079]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg	[env.py: 1082]
-05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:10:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:10:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.346[m] 88.499[deg]	[grasp_sample.py: 539]
-05/10 15:10:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:10:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:11:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:11:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:11:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:11:34 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:11:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:11:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:11:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:11:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:11:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:11:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:11:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]	[grasp_sample.py: 539]
-05/10 15:11:53 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:11:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:11:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:11:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088089m	[env.py: 870]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06009079  1.12935863  0.08808877] yaw=-146.1deg	[env.py: 1019]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7225686   0.92062734  0.08808877] yaw=-154.4deg	[env.py: 1019]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93997913  0.7646681   0.08808877] yaw=-152.2deg	[env.py: 1019]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.5ms, total=115.6ms	[env.py: 1075]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.129, 0.088)	[env.py: 1079]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
-05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:11:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:11:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:11:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:11:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:11:57 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 15:11:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:11:59 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.549[m] 102.853[deg]	[grasp_sample.py: 539]
-05/10 15:11:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:12:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:12:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.50s (batch: 3.96s, save: 10.54s)	[pipeline.py: 300]
-05/10 15:12:12 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
-  episode_total: mean=153.08s, total=306.16s, count=2, min=126177.5ms, max=179984.8ms
-  sensor_polling: mean=439.6ms, total=231.24s, count=526, min=377.8ms, max=711.0ms
-  physics_step: mean=20.9ms, total=11.00s, count=526, min=14.2ms, max=50.5ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.2ms, max=3960.2ms
-  task_sampling: mean=357.6ms, total=715.2ms, count=2, min=322.1ms, max=393.1ms
-  task_specific_sample: mean=354.3ms, total=708.5ms, count=2, min=319.3ms, max=389.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=403.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:12:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:12:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:12:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:12:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:12:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:12:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021003m	[env.py: 870]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93511618  0.32450016  0.02100292] yaw=177.1deg	[env.py: 1019]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.5ms, total=281.6ms	[env.py: 1075]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.325, 0.021)	[env.py: 1079]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg	[env.py: 1082]
-05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:12:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:12:14 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:12:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:12:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:12:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:12:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:12:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:12:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 88.700[deg]	[grasp_sample.py: 539]
-05/10 15:12:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:12:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:12:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:12:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:12:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:12:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:12:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:12:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:12:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.103[deg]	[grasp_sample.py: 539]
-05/10 15:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:12:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:12:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:12:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.82s (batch: 3.81s, save: 8.01s)	[pipeline.py: 300]
-05/10 15:12:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:12:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.41s:
-  episode_total: mean=182.69s, total=182.69s, count=1, min=182694.6ms, max=182694.6ms
-  sensor_polling: mean=453.7ms, total=136.10s, count=300, min=383.3ms, max=806.7ms
-  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8007.1ms, max=8007.1ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=14.6ms, max=49.9ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.3ms, max=3812.3ms
-  task_sampling: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
-  task_specific_sample: mean=401.7ms, total=401.7ms, count=1, min=401.7ms, max=401.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:12:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:12:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:12:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:12:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:12:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:12:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:12:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078753m	[env.py: 870]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:12:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72688142  0.36417524  0.07875303] yaw=171.7deg	[env.py: 1019]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08394681  1.08118678  0.07875303] yaw=-139.4deg	[env.py: 1019]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96252174  1.10673818  0.07875303] yaw=-144.6deg	[env.py: 1019]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:12:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.8ms	[env.py: 1075]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.364, 0.079)	[env.py: 1079]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
-05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:12:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:12:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:12:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:12:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:12:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:12:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.557[m] 94.329[deg]	[grasp_sample.py: 539]
-05/10 15:12:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:12:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:12:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:12:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:12:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:13:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:13:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:13:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:13:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:13:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:13:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.34s (batch: 3.85s, save: 10.49s)	[pipeline.py: 300]
-05/10 15:13:19 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
-  episode_total: mean=194.07s, total=194.07s, count=1, min=194067.9ms, max=194067.9ms
-  sensor_polling: mean=451.6ms, total=135.49s, count=300, min=368.4ms, max=743.9ms
-  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10490.4ms, max=10490.4ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.9ms, max=65.0ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
-  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
-  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=416.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:13:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:13:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:13:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:13:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:13:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:13:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099813m	[env.py: 870]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:13:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93795384  0.66294678  0.09981321] yaw=-160.1deg	[env.py: 1019]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08619709  0.9339351   0.09981321] yaw=-149.5deg	[env.py: 1019]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79921174  0.38002563  0.09981321] yaw=178.0deg	[env.py: 1019]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:13:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.1ms, total=330.1ms	[env.py: 1075]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.663, 0.100)	[env.py: 1079]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
-05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:13:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:13:21 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:13:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:13:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:13:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:13:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:13:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.341s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:13:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 79.033[deg]	[grasp_sample.py: 539]
-05/10 15:13:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:13:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:13:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 15:13:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:13:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:13:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:13:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:13:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:13:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.720[deg]	[grasp_sample.py: 539]
-05/10 15:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:13:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:13:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:13:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:13:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:13:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:13:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:13:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:13:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:13:52 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.484[deg]	[grasp_sample.py: 539]
-05/10 15:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:13:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:13:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:14:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:14:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:14:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:14:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:14:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:14:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:14:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:14:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:14:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:14:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.297[deg]	[grasp_sample.py: 539]
-05/10 15:14:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:14:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:14:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:14:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.56s (batch: 4.59s, save: 8.97s)	[pipeline.py: 300]
-05/10 15:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.69s:
-  episode_total: mean=138.17s, total=276.35s, count=2, min=93130.9ms, max=183217.0ms
-  sensor_polling: mean=446.6ms, total=208.57s, count=467, min=376.0ms, max=746.5ms
-  physics_step: mean=20.5ms, total=9.58s, count=467, min=14.3ms, max=43.3ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8971.2ms, max=8971.2ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.4ms, max=4589.4ms
-  task_sampling: mean=344.1ms, total=688.2ms, count=2, min=325.0ms, max=363.3ms
-  task_specific_sample: mean=340.8ms, total=681.7ms, count=2, min=321.8ms, max=359.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
-  mj_forward_sync: mean=463.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:14:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:14:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078336m	[env.py: 870]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79972811  0.34612724  0.07833636] yaw=160.9deg	[env.py: 1019]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8327704   0.39363258  0.07833636] yaw=185.6deg	[env.py: 1019]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63431872  0.24141957  0.07833636] yaw=169.9deg	[env.py: 1019]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms	[env.py: 1075]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.346, 0.078)	[env.py: 1079]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg	[env.py: 1082]
-05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:14:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:14:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:15:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:15:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.426[m] 77.445[deg]	[grasp_sample.py: 539]
-05/10 15:15:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:15:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:15:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:15:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:15:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:15:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.567[deg]	[grasp_sample.py: 539]
-05/10 15:15:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:15:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:15:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061075m	[env.py: 870]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7674402   0.25677329  0.06107542] yaw=170.8deg	[env.py: 1019]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70814616  0.17045231  0.06107542] yaw=154.8deg	[env.py: 1019]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.257, 0.061)	[env.py: 1079]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
-05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:15:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:15:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:15:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:15:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.542[m] 93.965[deg]	[grasp_sample.py: 539]
-05/10 15:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:15:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:15:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:07 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:15:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:15:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:15:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:15:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:15:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:15:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:15:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.48s (batch: 3.77s, save: 7.71s)	[pipeline.py: 300]
-05/10 15:15:42 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=195.51s, total=195.51s, count=1, min=195510.2ms, max=195510.2ms
-  sensor_polling: mean=451.6ms, total=135.47s, count=300, min=377.2ms, max=824.0ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7710.1ms, max=7710.1ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.1ms, max=66.1ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.3ms, max=3768.3ms
-  task_sampling: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
-  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:15:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:15:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:15:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:15:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:15:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:15:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:15:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084600m	[env.py: 870]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:15:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85888419  0.27667371  0.08459955] yaw=156.4deg	[env.py: 1019]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88504695  0.2310756   0.08459955] yaw=172.0deg	[env.py: 1019]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76842707  0.21556228  0.08459955] yaw=156.8deg	[env.py: 1019]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.277, 0.085)	[env.py: 1079]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg	[env.py: 1082]
-05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:15:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:15:44 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:15:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:15:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:15:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 89.535[deg]	[grasp_sample.py: 539]
-05/10 15:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:15:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:15:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:15:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:16:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:16:03 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 15:16:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:16:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:16:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:16:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:16:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.67s, save: 7.45s)	[pipeline.py: 300]
-05/10 15:16:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s:
-  episode_total: mean=174.60s, total=174.60s, count=1, min=174598.6ms, max=174598.6ms
-  sensor_polling: mean=441.7ms, total=126.32s, count=286, min=375.6ms, max=837.0ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.4ms, max=7449.4ms
-  physics_step: mean=19.9ms, total=5.68s, count=286, min=13.2ms, max=59.4ms
-  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3671.7ms, max=3671.7ms
-  task_sampling: mean=623.3ms, total=623.3ms, count=1, min=623.3ms, max=623.3ms
-  task_specific_sample: mean=618.8ms, total=618.8ms, count=1, min=618.8ms, max=618.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=550.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:16:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:16:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:16:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:16:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:16:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:16:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:16:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050739m	[env.py: 870]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:16:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06476794  1.09574171  0.05073862] yaw=-146.3deg	[env.py: 1019]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82688415  0.39980859  0.05073862] yaw=184.2deg	[env.py: 1019]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08058758  1.12339745  0.05073862] yaw=-126.6deg	[env.py: 1019]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:16:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.2ms	[env.py: 1075]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.096, 0.051)	[env.py: 1079]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
-05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:16:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:16:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:16:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:16:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:16:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:16:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:16:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.702s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:16:19 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.474[m] 83.276[deg]	[grasp_sample.py: 539]
-05/10 15:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:16:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008644m	[env.py: 870]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13326756  1.14191362  0.0086438 ] yaw=-131.9deg	[env.py: 1019]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94126145  0.99284866  0.0086438 ] yaw=-144.8deg	[env.py: 1019]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73476093  0.1094199   0.0086438 ] yaw=162.9deg	[env.py: 1019]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms	[env.py: 1075]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.142, 0.009)	[env.py: 1079]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
-05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:16:23 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:16:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:16:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 92.991[deg]	[grasp_sample.py: 539]
-05/10 15:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:16:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:16:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:16:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:17:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:17:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:17:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:17:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:17:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.328s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:17:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.702[deg]	[grasp_sample.py: 539]
-05/10 15:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:17:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:17:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:17:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:17:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:17:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:17:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]	[grasp_sample.py: 539]
-05/10 15:17:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:17:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:17:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091500m	[env.py: 870]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14870393  1.0364571   0.09150003] yaw=-126.7deg	[env.py: 1019]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62720695  0.28220341  0.09150003] yaw=170.4deg	[env.py: 1019]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93848095  0.30150289  0.09150003] yaw=164.0deg	[env.py: 1019]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:17:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.6ms, total=73.6ms	[env.py: 1075]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.036, 0.092)	[env.py: 1079]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg	[env.py: 1082]
-05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:17:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:17:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:17:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:17:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:17:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:17:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:17:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:17:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.437[deg]	[grasp_sample.py: 539]
-05/10 15:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:17:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:17:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:17:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:17:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:17:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.326s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:17:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]	[grasp_sample.py: 539]
-05/10 15:17:46 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:17:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:17:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096079m	[env.py: 870]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92973054  0.94969255  0.09607925] yaw=-152.1deg	[env.py: 1019]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94628923  1.17196324  0.09607925] yaw=-147.8deg	[env.py: 1019]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67142639  0.79084276  0.09607925] yaw=-152.8deg	[env.py: 1019]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.2ms, total=87.2ms	[env.py: 1075]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.950, 0.096)	[env.py: 1079]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:17:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:17:48 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:17:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:17:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:17:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.938[deg]	[grasp_sample.py: 539]
-05/10 15:17:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:18:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:18:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:18:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:18:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:18:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.25s (batch: 4.13s, save: 8.12s)	[pipeline.py: 300]
-05/10 15:18:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.44s:
-  episode_total: mean=193.87s, total=193.87s, count=1, min=193871.7ms, max=193871.7ms
-  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=395.0ms, max=920.8ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.6ms, max=8118.6ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=12.8ms, max=59.7ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.9ms, max=4130.9ms
-  task_sampling: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
-  task_specific_sample: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=521.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:18:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:18:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:18:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009979m	[env.py: 870]
-05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79228681  0.21618343  0.00997862] yaw=154.4deg	[env.py: 1019]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03597425  1.25858475  0.00997862] yaw=-120.3deg	[env.py: 1019]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95127869  0.23257404  0.00997862] yaw=151.1deg	[env.py: 1019]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms	[env.py: 1075]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.216, 0.010)	[env.py: 1079]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
-05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:18:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:18:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:18:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:18:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:18:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:18:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 97.926[deg]	[grasp_sample.py: 539]
-05/10 15:18:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:18:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:18:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:18:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:18:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:18:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.246s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:18:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.102[m] 0.723[deg]	[grasp_sample.py: 539]
-05/10 15:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:18:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:18:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:18:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052371m	[env.py: 870]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96662751  0.87196964  0.05237131] yaw=-153.5deg	[env.py: 1019]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69501703  0.61102335  0.05237131] yaw=-163.2deg	[env.py: 1019]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8347338   0.34234054  0.05237131] yaw=162.7deg	[env.py: 1019]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms	[env.py: 1075]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.872, 0.052)	[env.py: 1079]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
-05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:18:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:18:39 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:18:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:18:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 93.587[deg]	[grasp_sample.py: 539]
-05/10 15:18:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:18:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:18:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:18:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:18:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:19:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:19:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:19:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:19:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:20:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:20:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.273[deg]	[grasp_sample.py: 539]
-05/10 15:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:20:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:20:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:20:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055394m	[env.py: 870]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88465202  0.8716821   0.0553943 ] yaw=-164.2deg	[env.py: 1019]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79937941  0.09115683  0.0553943 ] yaw=145.5deg	[env.py: 1019]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:20:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=816.2ms, total=816.2ms	[env.py: 1075]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.055)	[env.py: 1079]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
-05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:20:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:20:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:20:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:20:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:20:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 78.615[deg]	[grasp_sample.py: 539]
-05/10 15:20:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:20:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:20:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:20:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:20:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:20:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:20:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:20:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:20:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:20:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:20:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:20:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.577[deg]	[grasp_sample.py: 539]
-05/10 15:20:41 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:20:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:20:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:20:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:20:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:20:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000768m	[env.py: 870]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:20:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-8.42590720e-01  5.47987871e-01  7.67912350e-04] yaw=-165.1deg	[env.py: 1019]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.60610463e-01  3.90614416e-02  7.67912350e-04] yaw=161.4deg	[env.py: 1019]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83335701e-01  7.20817110e-01  7.67912350e-04] yaw=-155.7deg	[env.py: 1019]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.2ms, total=102.2ms	[env.py: 1075]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.548, 0.001)	[env.py: 1079]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
-05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:20:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:20:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:20:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:20:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:20:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:20:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:20:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 89.275[deg]	[grasp_sample.py: 539]
-05/10 15:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:20:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:20:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:20:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.66s (batch: 3.92s, save: 7.74s)	[pipeline.py: 300]
-05/10 15:20:48 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.72s:
-  episode_total: mean=151.16s, total=302.32s, count=2, min=122365.1ms, max=179954.6ms
-  sensor_polling: mean=455.3ms, total=240.42s, count=528, min=386.5ms, max=814.6ms
-  physics_step: mean=21.4ms, total=11.28s, count=528, min=14.5ms, max=73.4ms
-  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7735.6ms, max=7735.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.3ms, max=3921.3ms
-  task_sampling: mean=358.0ms, total=716.0ms, count=2, min=321.1ms, max=394.9ms
-  task_specific_sample: mean=354.9ms, total=709.8ms, count=2, min=318.0ms, max=391.8ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms
-  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:20:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:20:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:20:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021715m	[env.py: 870]
-05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73097765  0.80053144  0.02171546] yaw=-170.1deg	[env.py: 1019]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73139211  0.19784628  0.02171546] yaw=153.7deg	[env.py: 1019]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77906784  0.91390098  0.02171546] yaw=-159.1deg	[env.py: 1019]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:20:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:20:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms	[env.py: 1075]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.801, 0.022)	[env.py: 1079]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
-05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
-05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:20:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:20:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:20:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:20:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:20:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:20:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:20:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.363[deg]	[grasp_sample.py: 539]
-05/10 15:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:20:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:20:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:21:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:21:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:21:26 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:21:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:21:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:21:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:21:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:21:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:21:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:21:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.83s (batch: 4.05s, save: 8.79s)	[pipeline.py: 300]
-05/10 15:21:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.53s:
-  episode_total: mean=106.35s, total=319.06s, count=3, min=3343.2ms, max=180722.9ms
-  sensor_polling: mean=442.5ms, total=242.47s, count=548, min=385.7ms, max=748.5ms
-  physics_step: mean=19.7ms, total=10.82s, count=548, min=16.2ms, max=54.0ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8786.6ms, max=8786.6ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
-  task_sampling: mean=511.3ms, total=1.53s, count=3, min=445.9ms, max=633.0ms
-  task_specific_sample: mean=508.1ms, total=1.52s, count=3, min=442.3ms, max=629.9ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=423.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=28.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:21:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:21:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:21:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:21:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071254m	[env.py: 870]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83921142  0.63069891  0.07125417] yaw=-168.0deg	[env.py: 1019]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81235381  0.95340447  0.07125417] yaw=-150.6deg	[env.py: 1019]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.7ms, total=420.7ms	[env.py: 1075]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.631, 0.071)	[env.py: 1079]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
-05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:21:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:21:42 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:21:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 82.867[deg]	[grasp_sample.py: 539]
-05/10 15:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:21:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:21:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:22:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:22:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:22:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:22:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:22:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:23:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:23:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:23:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:23:10 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:23:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.88s (batch: 4.11s, save: 7.77s)	[pipeline.py: 300]
-05/10 15:23:14 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=2.41s:
-  episode_total: mean=163.92s, total=655.69s, count=4, min=144708.8ms, max=184089.6ms
-  sensor_polling: mean=449.1ms, total=515.53s, count=1148, min=378.9ms, max=901.5ms
-  physics_step: mean=21.0ms, total=24.07s, count=1148, min=12.7ms, max=95.8ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7767.9ms, max=7767.9ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.0ms, max=4109.0ms
-  task_sampling: mean=601.9ms, total=2.41s, count=4, min=309.4ms, max=1067.7ms
-  task_specific_sample: mean=598.5ms, total=2.39s, count=4, min=306.0ms, max=1064.4ms
-  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=432.3us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:23:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:23:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:23:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:23:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:23:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:23:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028266m	[env.py: 870]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:23:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9659717   0.16106573  0.0282664 ] yaw=153.8deg	[env.py: 1019]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8724435   0.26175529  0.0282664 ] yaw=164.8deg	[env.py: 1019]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:23:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms	[env.py: 1075]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.161, 0.028)	[env.py: 1079]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
-05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:23:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:23:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:23:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:23:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:23:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:23:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:23:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.410[m] 98.628[deg]	[grasp_sample.py: 539]
-05/10 15:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:23:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:23:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:23:20 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:23:34 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:23:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:23:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:23:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:23:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:23:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:23:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:23:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:23:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.25s (batch: 3.88s, save: 7.37s)	[pipeline.py: 300]
-05/10 15:23:45 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.76s:
-  episode_total: mean=164.69s, total=329.38s, count=2, min=146969.5ms, max=182406.4ms
-  sensor_polling: mean=459.5ms, total=263.77s, count=574, min=393.1ms, max=1043.3ms
-  physics_step: mean=21.8ms, total=12.52s, count=574, min=13.6ms, max=84.2ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7369.2ms, max=7369.2ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.7ms, max=3880.7ms
-  task_sampling: mean=381.8ms, total=763.5ms, count=2, min=325.9ms, max=437.6ms
-  task_specific_sample: mean=378.7ms, total=757.4ms, count=2, min=323.3ms, max=434.1ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=390.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:23:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:23:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:23:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:23:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098986m	[env.py: 870]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6622719   0.54948757  0.09898566] yaw=-174.9deg	[env.py: 1019]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.1245444   0.99484609  0.09898566] yaw=-128.0deg	[env.py: 1019]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms	[env.py: 1075]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.549, 0.099)	[env.py: 1079]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
-05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:23:47 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:23:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:23:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:23:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:23:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:23:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:23:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 86.633[deg]	[grasp_sample.py: 539]
-05/10 15:23:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:23:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:23:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:23:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:23:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:23:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.46s (batch: 3.85s, save: 7.61s)	[pipeline.py: 300]
-05/10 15:23:54 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
-  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.8ms, max=184663.8ms
-  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=390.4ms, max=1066.2ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7607.1ms, max=7607.1ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=44.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.7ms, max=3852.7ms
-  task_sampling: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=391.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:23:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:23:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:23:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:23:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:23:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:23:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:23:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001895m	[env.py: 870]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:23:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89403635  0.5861861   0.00189524] yaw=-180.0deg	[env.py: 1019]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78270487  0.64632227  0.00189524] yaw=-177.3deg	[env.py: 1019]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1595861   1.15852204  0.00189524] yaw=-118.7deg	[env.py: 1019]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:23:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.586, 0.002)	[env.py: 1079]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg	[env.py: 1082]
-05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:23:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:23:56 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:23:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:23:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:23:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:23:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:23:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:23:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 79.992[deg]	[grasp_sample.py: 539]
-05/10 15:23:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:23:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:23:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:24:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:24:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:24:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:24:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:24:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:24:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.68s (batch: 4.00s, save: 7.68s)	[pipeline.py: 300]
-05/10 15:24:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.68s:
-  episode_total: mean=182.66s, total=182.66s, count=1, min=182661.1ms, max=182661.1ms
-  sensor_polling: mean=455.8ms, total=136.74s, count=300, min=387.1ms, max=950.9ms
-  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7679.6ms, max=7679.6ms
-  physics_step: mean=20.2ms, total=6.05s, count=300, min=16.3ms, max=37.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.7ms, max=3997.7ms
-  task_sampling: mean=680.5ms, total=680.5ms, count=1, min=680.5ms, max=680.5ms
-  task_specific_sample: mean=675.9ms, total=675.9ms, count=1, min=675.9ms, max=675.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=525.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:24:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:24:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:24:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:24:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:24:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:24:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:24:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073596m	[env.py: 870]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:24:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08831835  1.03317619  0.07359559] yaw=-145.6deg	[env.py: 1019]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01472324  1.26988384  0.07359559] yaw=-132.7deg	[env.py: 1019]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06882473  1.05541412  0.07359559] yaw=-132.8deg	[env.py: 1019]
-05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.9ms, total=71.9ms	[env.py: 1075]
-05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.088, 1.033, 0.074)	[env.py: 1079]
-05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
-05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:24:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:24:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:24:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:24:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:24:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:24:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.625[deg]	[grasp_sample.py: 539]
-05/10 15:24:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:24:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:24:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:24:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:25:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:25:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:25:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:25:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:25:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:25:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.133[deg]	[grasp_sample.py: 539]
-05/10 15:25:12 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:25:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:25:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:25:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:25:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:25:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:25:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:25:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032934m	[env.py: 870]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:25:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70619424  0.88896327  0.03293427] yaw=-159.9deg	[env.py: 1019]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77189898  0.72969017  0.03293427] yaw=-174.9deg	[env.py: 1019]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75162876  0.31279469  0.03293427] yaw=165.3deg	[env.py: 1019]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:25:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.5ms, total=388.5ms	[env.py: 1075]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.889, 0.033)	[env.py: 1079]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:25:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:25:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:25:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:25:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:25:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:25:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:25:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:25:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 91.745[deg]	[grasp_sample.py: 539]
-05/10 15:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:25:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:25:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:25:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:25:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:26:16 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:26:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:26:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:26:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:26:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:26:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:26:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:26:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:26:45 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:26:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:26:45 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 15:26:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:26:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:26:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.73s (batch: 4.23s, save: 8.50s)	[pipeline.py: 300]
-05/10 15:26:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.72s, total=181.72s, count=1, min=181716.5ms, max=181716.5ms
-  sensor_polling: mean=460.6ms, total=138.19s, count=300, min=398.1ms, max=750.0ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8499.9ms, max=8499.9ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.7ms, max=80.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.0ms, max=4226.0ms
-  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
-  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:26:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:26:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:26:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030032m	[env.py: 870]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75309637  0.56371119  0.03003248] yaw=-168.7deg	[env.py: 1019]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60535339  0.40077535  0.03003248] yaw=181.7deg	[env.py: 1019]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.564, 0.030)	[env.py: 1079]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
-05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:26:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:26:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:26:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:26:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 100.082[deg]	[grasp_sample.py: 539]
-05/10 15:26:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:26:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:26:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:26:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:26:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:26:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.99s (batch: 3.77s, save: 8.22s)	[pipeline.py: 300]
-05/10 15:26:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
-  episode_total: mean=181.97s, total=181.97s, count=1, min=181972.9ms, max=181972.9ms
-  sensor_polling: mean=466.1ms, total=134.24s, count=288, min=396.5ms, max=812.7ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8217.9ms, max=8217.9ms
-  physics_step: mean=21.9ms, total=6.30s, count=288, min=13.9ms, max=59.0ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
-  task_sampling: mean=405.0ms, total=405.0ms, count=1, min=405.0ms, max=405.0ms
-  task_specific_sample: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:26:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:26:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006727m	[env.py: 870]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06599904  0.95476062  0.00672662] yaw=-143.5deg	[env.py: 1019]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22528721  1.0654542   0.00672662] yaw=-131.2deg	[env.py: 1019]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98588686  0.90346909  0.00672662] yaw=-155.2deg	[env.py: 1019]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms	[env.py: 1075]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.955, 0.007)	[env.py: 1079]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
-05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:27:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:27:00 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:27:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 89.643[deg]	[grasp_sample.py: 539]
-05/10 15:27:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:27:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:27:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:27:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:27:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:27:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:27:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:27:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:27:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.370s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:27:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]	[grasp_sample.py: 539]
-05/10 15:27:12 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:27:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:27:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:27:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:27:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:27:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:27:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:27:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087005m	[env.py: 870]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:27:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69422756  0.62982091  0.08700527] yaw=-167.6deg	[env.py: 1019]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65857643  0.28595789  0.08700527] yaw=180.4deg	[env.py: 1019]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85502324  0.3042946   0.08700527] yaw=164.2deg	[env.py: 1019]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:27:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms	[env.py: 1075]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.630, 0.087)	[env.py: 1079]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
-05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:27:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:27:14 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:27:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:27:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:27:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:27:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:27:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:27:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 90.307[deg]	[grasp_sample.py: 539]
-05/10 15:27:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:27:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:27:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:27:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:27:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:27:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:27:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:27:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:27:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:27:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:28:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:28:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:28:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:28:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:28:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:28:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.33s (batch: 4.28s, save: 10.05s)	[pipeline.py: 300]
-05/10 15:28:16 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.99s:
-  episode_total: mean=149.14s, total=298.27s, count=2, min=116179.6ms, max=182091.9ms
-  sensor_polling: mean=444.1ms, total=223.40s, count=503, min=370.2ms, max=771.9ms
-  physics_step: mean=20.1ms, total=10.11s, count=503, min=14.4ms, max=112.3ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.5ms, max=10047.5ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.9ms, max=4278.9ms
-  task_sampling: mean=496.1ms, total=992.1ms, count=2, min=394.6ms, max=597.5ms
-  task_specific_sample: mean=492.9ms, total=985.8ms, count=2, min=391.2ms, max=594.7ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=401.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:28:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:28:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:28:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:28:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:28:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:28:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:28:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094349m	[env.py: 870]
-05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:28:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16839351  1.0296962   0.09434923] yaw=-141.6deg	[env.py: 1019]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73555742  0.62744977  0.09434923] yaw=-179.8deg	[env.py: 1019]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88863144  0.62848737  0.09434923] yaw=-173.4deg	[env.py: 1019]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:28:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms	[env.py: 1075]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.030, 0.094)	[env.py: 1079]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
-05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
-05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:28:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:28:18 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:28:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:28:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.351[m] 78.152[deg]	[grasp_sample.py: 539]
-05/10 15:28:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:28:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:28:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:28:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:29:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:29:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:29:15 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:29:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:29:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:29:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:29:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:29:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.76s, save: 7.53s)	[pipeline.py: 300]
-05/10 15:29:51 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
-  episode_total: mean=180.57s, total=180.57s, count=1, min=180572.0ms, max=180572.0ms
-  sensor_polling: mean=447.2ms, total=134.15s, count=300, min=398.8ms, max=942.0ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7530.3ms, max=7530.3ms
-  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.9ms, max=46.5ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3764.8ms, max=3764.8ms
-  task_sampling: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms
-  task_specific_sample: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=378.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:29:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:29:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:29:51 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 15:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:29:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:29:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:29:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040827m	[env.py: 870]
-05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73009051  0.51927774  0.04082663] yaw=-179.7deg	[env.py: 1019]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95023459  0.09503562  0.04082663] yaw=155.9deg	[env.py: 1019]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.1ms, total=263.1ms	[env.py: 1075]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.519, 0.041)	[env.py: 1079]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg	[env.py: 1082]
-05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:29:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:29:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:29:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:29:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:29:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:29:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:29:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:29:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 84.840[deg]	[grasp_sample.py: 539]
-05/10 15:29:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:29:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:29:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:04 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:30:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:30:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:30:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:30:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:30:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.33s (batch: 5.14s, save: 8.19s)	[pipeline.py: 300]
-05/10 15:30:05 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
-  episode_total: mean=186.19s, total=186.19s, count=1, min=186193.5ms, max=186193.5ms
-  sensor_polling: mean=450.6ms, total=132.47s, count=294, min=394.0ms, max=826.1ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8191.0ms, max=8191.0ms
-  physics_step: mean=21.2ms, total=6.23s, count=294, min=14.2ms, max=53.3ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5141.5ms, max=5141.5ms
-  task_sampling: mean=356.3ms, total=356.3ms, count=1, min=356.3ms, max=356.3ms
-  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=385.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:30:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:30:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045285m	[env.py: 870]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02160074  1.06498708  0.04528494] yaw=-132.0deg	[env.py: 1019]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08022114  1.13762463  0.04528494] yaw=-139.4deg	[env.py: 1019]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms	[env.py: 1075]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.065, 0.045)	[env.py: 1079]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg	[env.py: 1082]
-05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:30:07 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:30:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:30:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:30:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:30:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 96.817[deg]	[grasp_sample.py: 539]
-05/10 15:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:30:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:30:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:30:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:30:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.13s (batch: 4.07s, save: 7.05s)	[pipeline.py: 300]
-05/10 15:30:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
-  episode_total: mean=164.38s, total=328.77s, count=2, min=146613.8ms, max=182153.7ms
-  sensor_polling: mean=458.3ms, total=262.61s, count=573, min=376.8ms, max=940.3ms
-  physics_step: mean=20.8ms, total=11.92s, count=573, min=13.1ms, max=81.6ms
-  save_trajectories: mean=7.05s, total=7.05s, count=1, min=7053.4ms, max=7053.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.5ms, max=4073.5ms
-  task_sampling: mean=362.5ms, total=725.0ms, count=2, min=358.9ms, max=366.1ms
-  task_specific_sample: mean=359.3ms, total=718.6ms, count=2, min=356.1ms, max=362.5ms
-  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=377.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:30:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:30:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:30:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:30:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:30:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:30:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030632m	[env.py: 870]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:30:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76894735  0.04336054  0.03063199] yaw=163.8deg	[env.py: 1019]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98721149  1.09231124  0.03063199] yaw=-147.1deg	[env.py: 1019]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72960445  0.71444591  0.03063199] yaw=-167.0deg	[env.py: 1019]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:30:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms	[env.py: 1075]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.043, 0.031)	[env.py: 1079]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
-05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:30:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:30:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:30:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:30:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:30:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:30:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:30:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.647[m] 98.487[deg]	[grasp_sample.py: 539]
-05/10 15:30:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:30:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:30:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:30:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:30:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:30:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:30:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:30:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.387s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:30:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
-05/10 15:30:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:30:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:30:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:30:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058338m	[env.py: 870]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03761307  1.03416094  0.05833845] yaw=-143.4deg	[env.py: 1019]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84980173  1.07652642  0.05833845] yaw=-134.8deg	[env.py: 1019]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.789332    0.55429877  0.05833845] yaw=-176.8deg	[env.py: 1019]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:30:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.034, 0.058)	[env.py: 1079]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
-05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:30:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:30:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:30:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:30:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:30:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:30:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:30:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 82.942[deg]	[grasp_sample.py: 539]
-05/10 15:30:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:30:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:30:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:30:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:30:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:31:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:31:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:31:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:31:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:31:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:31:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:31:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:32:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:32:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.453s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:32:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.361[deg]	[grasp_sample.py: 539]
-05/10 15:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:32:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:32:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:32:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:32:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097569m	[env.py: 870]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69510615  0.87427323  0.09756912] yaw=-156.9deg	[env.py: 1019]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82128021  0.69554009  0.09756912] yaw=-177.3deg	[env.py: 1019]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9640902   1.04493337  0.09756912] yaw=-141.5deg	[env.py: 1019]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.874, 0.098)	[env.py: 1079]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
-05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:32:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:32:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:32:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:32:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:32:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:32:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:32:48 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.679[m] 92.995[deg]	[grasp_sample.py: 539]
-05/10 15:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:32:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:32:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:32:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:32:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.56s (batch: 4.07s, save: 8.49s)	[pipeline.py: 300]
-05/10 15:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:58 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
-  episode_total: mean=185.19s, total=185.19s, count=1, min=185188.1ms, max=185188.1ms
-  sensor_polling: mean=450.1ms, total=135.04s, count=300, min=386.6ms, max=874.8ms
-  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8486.0ms, max=8486.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.6ms, max=49.7ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.7ms, max=4074.7ms
-  task_sampling: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  task_specific_sample: mean=533.2ms, total=533.2ms, count=1, min=533.2ms, max=533.2ms
-  scene_randomize: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
-  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:32:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:32:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:32:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029731m	[env.py: 870]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99189094  0.98107377  0.02973056] yaw=-139.4deg	[env.py: 1019]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83088361  0.81899544  0.02973056] yaw=-161.4deg	[env.py: 1019]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81495241  0.73327885  0.02973056] yaw=-160.9deg	[env.py: 1019]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.2ms	[env.py: 1075]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.981, 0.030)	[env.py: 1079]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
-05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:33:00 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:33:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:33:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:33:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:33:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 83.432[deg]	[grasp_sample.py: 539]
-05/10 15:33:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:33:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:33:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:33:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:33:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:33:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:33:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:33:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.381s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:33:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.338[deg]	[grasp_sample.py: 539]
-05/10 15:33:05 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:33:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:33:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:33:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:33:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:33:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:33:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046448m	[env.py: 870]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:33:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81807479  1.01093162  0.04644801] yaw=-150.7deg	[env.py: 1019]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82674188  0.36126547  0.04644801] yaw=177.7deg	[env.py: 1019]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01376668  1.06871172  0.04644801] yaw=-129.1deg	[env.py: 1019]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:33:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms	[env.py: 1075]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 1.011, 0.046)	[env.py: 1079]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
-05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:33:07 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:33:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:33:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:33:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:33:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:33:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:33:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:33:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.390s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:33:09 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.602[m] 87.041[deg]	[grasp_sample.py: 539]
-05/10 15:33:10 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:33:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045827m	[env.py: 870]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71795641  0.82880664  0.04582697] yaw=-158.5deg	[env.py: 1019]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms	[env.py: 1075]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.829, 0.046)	[env.py: 1079]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
-05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:33:13 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:33:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:33:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:33:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:33:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 87.204[deg]	[grasp_sample.py: 539]
-05/10 15:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:33:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:33:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:33:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:33:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.64s, save: 7.48s)	[pipeline.py: 300]
-05/10 15:33:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
-  episode_total: mean=182.30s, total=182.30s, count=1, min=182296.7ms, max=182296.7ms
-  sensor_polling: mean=458.0ms, total=137.41s, count=300, min=382.1ms, max=885.6ms
-  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7476.4ms, max=7476.4ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=13.1ms, max=65.4ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3642.8ms, max=3642.8ms
-  task_sampling: mean=361.1ms, total=361.1ms, count=1, min=361.1ms, max=361.1ms
-  task_specific_sample: mean=357.9ms, total=357.9ms, count=1, min=357.9ms, max=357.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=385.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:33:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:33:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056292m	[env.py: 870]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73904673  0.91318457  0.05629218] yaw=-160.4deg	[env.py: 1019]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03678903  0.83399649  0.05629218] yaw=-144.6deg	[env.py: 1019]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8151208   1.0056714   0.05629218] yaw=-139.9deg	[env.py: 1019]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms	[env.py: 1075]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.913, 0.056)	[env.py: 1079]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:33:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:33:22 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:33:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:33:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:33:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:33:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.451s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:33:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.653[m] 83.862[deg]	[grasp_sample.py: 539]
-05/10 15:33:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:33:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:33:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:33:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:34:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:34:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:34:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:34:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:34:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:35:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:35:25 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:35:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:35:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:35:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:35:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:35:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:35:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:35:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.53s (batch: 4.60s, save: 7.94s)	[pipeline.py: 300]
-05/10 15:35:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:35:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:35:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:35:49 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=170.35s, total=340.71s, count=2, min=156382.6ms, max=184322.6ms
-  sensor_polling: mean=445.8ms, total=266.13s, count=597, min=351.9ms, max=884.4ms
-  physics_step: mean=20.7ms, total=12.36s, count=597, min=13.5ms, max=59.8ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7939.3ms, max=7939.3ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4595.5ms, max=4595.5ms
-  task_sampling: mean=410.2ms, total=820.4ms, count=2, min=408.3ms, max=412.1ms
-  task_specific_sample: mean=406.9ms, total=813.8ms, count=2, min=405.3ms, max=408.5ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=433.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:35:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:35:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:35:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:35:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:35:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040870m	[env.py: 870]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93673663  0.68125278  0.04087015] yaw=-158.9deg	[env.py: 1019]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:35:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms	[env.py: 1075]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.681, 0.041)	[env.py: 1079]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:35:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:35:51 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:35:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:35:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:35:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:35:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:35:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:35:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:35:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 81.194[deg]	[grasp_sample.py: 539]
-05/10 15:35:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:35:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:35:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:35:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:35:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:35:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:36:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:36:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:36:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.29s (batch: 3.85s, save: 8.44s)	[pipeline.py: 300]
-05/10 15:36:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=182.21s, total=182.21s, count=1, min=182210.7ms, max=182210.7ms
-  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=382.0ms, max=714.9ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8445.0ms, max=8445.0ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.3ms, max=70.2ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3846.5ms, max=3846.5ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=442.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:36:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005044m	[env.py: 870]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0160821   0.17638014  0.00504385] yaw=164.1deg	[env.py: 1019]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92368884  0.23725385  0.00504385] yaw=172.3deg	[env.py: 1019]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97173999  1.05392324  0.00504385] yaw=-145.1deg	[env.py: 1019]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms	[env.py: 1075]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.176, 0.005)	[env.py: 1079]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg	[env.py: 1082]
-05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:36:04 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:36:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:36:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.316[m] 90.603[deg]	[grasp_sample.py: 539]
-05/10 15:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:36:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:36:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:36:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:36:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:36:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 3.65s, save: 9.99s)	[pipeline.py: 300]
-05/10 15:36:13 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.98s:
-  episode_total: mean=117.73s, total=470.91s, count=4, min=3799.2ms, max=181033.6ms
-  sensor_polling: mean=451.6ms, total=380.74s, count=843, min=370.9ms, max=939.3ms
-  physics_step: mean=20.9ms, total=17.61s, count=843, min=13.3ms, max=84.1ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.1ms, max=9991.1ms
-  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.6ms, max=3645.6ms
-  task_sampling: mean=494.9ms, total=1.98s, count=4, min=315.3ms, max=747.6ms
-  task_specific_sample: mean=491.3ms, total=1.97s, count=4, min=312.5ms, max=743.1ms
-  scene_randomize: mean=1.8ms, total=7.3ms, count=4, min=1.2ms, max=3.1ms
-  mj_forward_sync: mean=409.4us, total=1.6ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:36:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:36:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019535m	[env.py: 870]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75742575  0.17922135  0.01953546] yaw=152.2deg	[env.py: 1019]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8826288   0.56357826  0.01953546] yaw=-176.3deg	[env.py: 1019]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77261319  0.6558228   0.01953546] yaw=-177.1deg	[env.py: 1019]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms	[env.py: 1075]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.179, 0.020)	[env.py: 1079]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg	[env.py: 1082]
-05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:36:15 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:36:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:36:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:36:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:36:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.617[m] 100.222[deg]	[grasp_sample.py: 539]
-05/10 15:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:36:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:36:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064873m	[env.py: 870]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86866488  1.12694242  0.06487273] yaw=-140.7deg	[env.py: 1019]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86811934  0.2034852   0.06487273] yaw=153.4deg	[env.py: 1019]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074509  1.23070773  0.06487273] yaw=-138.3deg	[env.py: 1019]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms	[env.py: 1075]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.127, 0.065)	[env.py: 1079]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
-05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:36:19 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:36:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:36:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:36:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:36:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.603[m] 83.737[deg]	[grasp_sample.py: 539]
-05/10 15:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:36:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:36:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.36s (batch: 3.64s, save: 7.73s)	[pipeline.py: 300]
-05/10 15:36:24 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
-  episode_total: mean=183.25s, total=183.25s, count=1, min=183247.9ms, max=183247.9ms
-  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=372.9ms, max=804.5ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.2ms, max=7727.2ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=64.3ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.0ms, max=3636.0ms
-  task_sampling: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=375.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:36:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013061m	[env.py: 870]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9212015   1.23256921  0.01306125] yaw=-142.2deg	[env.py: 1019]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01179847  1.19291771  0.01306125] yaw=-127.9deg	[env.py: 1019]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93625057  1.22653123  0.01306125] yaw=-141.1deg	[env.py: 1019]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms	[env.py: 1075]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 1.233, 0.013)	[env.py: 1079]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
-05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:36:26 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:36:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.449s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 15:36:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 15:36:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:36:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:36:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:36:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:36:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:36:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:36:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052134m	[env.py: 870]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:36:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1818259  1.0361999  0.0521337] yaw=-144.5deg	[env.py: 1019]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85201351  1.06645679  0.0521337 ] yaw=-151.8deg	[env.py: 1019]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91966063  1.03372064  0.0521337 ] yaw=-153.6deg	[env.py: 1019]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:36:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.1ms, total=70.1ms	[env.py: 1075]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.036, 0.052)	[env.py: 1079]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
-05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:36:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:36:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:36:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:36:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:36:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:36:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:36:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 94.130[deg]	[grasp_sample.py: 539]
-05/10 15:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:36:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:36:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:37:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:37:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:37:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:37:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:37:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:37:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:37:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:37:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:37:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.735s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:37:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.201[deg]	[grasp_sample.py: 539]
-05/10 15:37:30 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:37:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:37:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:37:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:37:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:37:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:37:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:37:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:37:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051988m	[env.py: 870]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:37:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81219451  0.52414522  0.05198831] yaw=-172.3deg	[env.py: 1019]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00585799  1.01729826  0.05198831] yaw=-140.1deg	[env.py: 1019]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90560748  0.36133104  0.05198831] yaw=168.3deg	[env.py: 1019]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:37:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms	[env.py: 1075]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.524, 0.052)	[env.py: 1079]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg	[env.py: 1082]
-05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:37:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:37:33 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:37:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:37:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:37:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.244s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:37:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 84.801[deg]	[grasp_sample.py: 539]
-05/10 15:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:37:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:37:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:12 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:38:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:32 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:38:32 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 15:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:38:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:38:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:38:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 4.14s, save: 10.36s)	[pipeline.py: 300]
-05/10 15:38:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:38:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]	[grasp_sample.py: 539]
-05/10 15:38:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:38:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.85s, total=175.85s, count=1, min=175845.2ms, max=175845.2ms
-  sensor_polling: mean=458.1ms, total=130.55s, count=285, min=379.3ms, max=806.0ms
-  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.9ms, max=10357.9ms
-  physics_step: mean=21.7ms, total=6.17s, count=285, min=13.8ms, max=107.7ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4135.7ms, max=4135.7ms
-  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  task_specific_sample: mean=408.9ms, total=408.9ms, count=1, min=408.9ms, max=408.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:38:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:38:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:38:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:38:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:38:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077584m	[env.py: 870]
-05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81451832  0.20813035  0.07758399] yaw=157.0deg	[env.py: 1019]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80297408  1.06544951  0.07758399] yaw=-145.4deg	[env.py: 1019]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11328017  0.9892049   0.07758399] yaw=-133.1deg	[env.py: 1019]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=563.2ms, total=563.3ms	[env.py: 1075]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.208, 0.078)	[env.py: 1079]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
-05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:38:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:38:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:38:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 87.776[deg]	[grasp_sample.py: 539]
-05/10 15:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:38:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:38:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:38:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:38:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:38:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:38:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.296[deg]	[grasp_sample.py: 539]
-05/10 15:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:38:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:38:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:38:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:38:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:38:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083699m	[env.py: 870]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04145537  0.89174715  0.08369885] yaw=-158.8deg	[env.py: 1019]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77342831  1.02579971  0.08369885] yaw=-156.7deg	[env.py: 1019]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms	[env.py: 1075]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.892, 0.084)	[env.py: 1079]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg	[env.py: 1082]
-05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:38:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:38:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:38:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:38:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:38:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:38:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 88.136[deg]	[grasp_sample.py: 539]
-05/10 15:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:38:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:38:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:38:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:39:02 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:39:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:39:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:39:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:39:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:39:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:39:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.07s (batch: 3.63s, save: 7.44s)	[pipeline.py: 300]
-05/10 15:39:35 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
-  episode_total: mean=99.32s, total=198.63s, count=2, min=3024.4ms, max=195608.8ms
-  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=397.3ms, max=726.7ms
-  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7437.5ms, max=7437.5ms
-  physics_step: mean=20.7ms, total=6.20s, count=300, min=13.7ms, max=60.2ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3631.2ms, max=3631.2ms
-  task_sampling: mean=345.2ms, total=690.4ms, count=2, min=320.3ms, max=370.1ms
-  task_specific_sample: mean=342.1ms, total=684.3ms, count=2, min=317.7ms, max=366.6ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:39:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:39:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:39:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:39:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:39:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:39:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:39:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099156m	[env.py: 870]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:39:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81729541  0.20841457  0.09915578] yaw=162.1deg	[env.py: 1019]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96895406  0.30623068  0.09915578] yaw=157.4deg	[env.py: 1019]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83685355  0.73325956  0.09915578] yaw=-167.3deg	[env.py: 1019]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:39:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms	[env.py: 1075]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.208, 0.099)	[env.py: 1079]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
-05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:39:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:39:37 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:39:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:39:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.486[m] 91.171[deg]	[grasp_sample.py: 539]
-05/10 15:39:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:39:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:39:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:39:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:39:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:39:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:39:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:40:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:40:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:40:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:40:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:40:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:40:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:40:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:40:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:40:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.61s (batch: 3.39s, save: 8.22s)	[pipeline.py: 300]
-05/10 15:40:37 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.91s:
-  episode_total: mean=135.71s, total=271.43s, count=2, min=87083.9ms, max=184342.2ms
-  sensor_polling: mean=455.2ms, total=205.74s, count=452, min=401.0ms, max=766.3ms
-  physics_step: mean=20.6ms, total=9.33s, count=452, min=16.5ms, max=52.9ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.1ms, max=8219.1ms
-  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3388.5ms, max=3388.5ms
-  task_sampling: mean=457.2ms, total=914.4ms, count=2, min=418.3ms, max=496.1ms
-  task_specific_sample: mean=453.7ms, total=907.3ms, count=2, min=414.5ms, max=492.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=473.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:40:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:40:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:40:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:40:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:40:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:40:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:40:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:40:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069968m	[env.py: 870]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:40:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81495727  0.47277644  0.06996811] yaw=173.1deg	[env.py: 1019]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73641938  0.82210858  0.06996811] yaw=-158.6deg	[env.py: 1019]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89837554  0.28436421  0.06996811] yaw=170.3deg	[env.py: 1019]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:40:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=244.0ms	[env.py: 1075]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.473, 0.070)	[env.py: 1079]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
-05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:40:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:40:39 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:40:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:40:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:40:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.168s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:40:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.271[deg]	[grasp_sample.py: 539]
-05/10 15:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:41:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:41:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:41:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:41:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:41:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.880[deg]	[grasp_sample.py: 539]
-05/10 15:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:41:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:41:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:41:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:41:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:41:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010732m	[env.py: 870]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00263854  1.00791837  0.01073184] yaw=-151.4deg	[env.py: 1019]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91553     0.59313921  0.01073184] yaw=-178.8deg	[env.py: 1019]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91241894  0.38884235  0.01073184] yaw=163.6deg	[env.py: 1019]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.0ms	[env.py: 1075]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.008, 0.011)	[env.py: 1079]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg	[env.py: 1082]
-05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:41:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:41:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:41:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:41:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:41:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:41:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 100.225[deg]	[grasp_sample.py: 539]
-05/10 15:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:41:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:41:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:41:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:41:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:41:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:41:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:41:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:41:42 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 15:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:41:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:41:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:41:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:41:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:41:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:41:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]	[grasp_sample.py: 539]
-05/10 15:41:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:41:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:41:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:41:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:41:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.70s (batch: 3.61s, save: 11.09s)	[pipeline.py: 300]
-05/10 15:41:58 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
-  episode_total: mean=109.60s, total=328.81s, count=3, min=1961.9ms, max=181989.6ms
-  sensor_polling: mean=460.2ms, total=254.51s, count=553, min=387.7ms, max=1021.3ms
-  physics_step: mean=20.6ms, total=11.40s, count=553, min=13.2ms, max=105.2ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.6ms, max=11089.6ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3609.9ms, max=3609.9ms
-  task_sampling: mean=430.1ms, total=1.29s, count=3, min=294.0ms, max=607.6ms
-  task_specific_sample: mean=427.0ms, total=1.28s, count=3, min=291.3ms, max=604.3ms
-  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.0ms
-  mj_forward_sync: mean=378.0us, total=1.1ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:42:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:42:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:42:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:42:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050444m	[env.py: 870]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96107672  1.13540942  0.05044436] yaw=-130.4deg	[env.py: 1019]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:42:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms	[env.py: 1075]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.135, 0.050)	[env.py: 1079]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
-05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:42:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:42:00 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:42:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:42:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:42:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:42:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:42:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:42:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:42:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.586[m] 86.837[deg]	[grasp_sample.py: 539]
-05/10 15:42:03 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:42:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:42:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:42:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:42:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:42:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:42:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:42:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078004m	[env.py: 870]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:42:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77406938  0.25669873  0.0780039 ] yaw=166.7deg	[env.py: 1019]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8397963   0.86307881  0.0780039 ] yaw=-160.6deg	[env.py: 1019]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93167417  0.55170753  0.0780039 ] yaw=-182.3deg	[env.py: 1019]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:42:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms	[env.py: 1075]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.257, 0.078)	[env.py: 1079]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
-05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:42:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:42:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:42:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:42:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:42:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:42:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.513[m] 95.607[deg]	[grasp_sample.py: 539]
-05/10 15:42:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:42:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:42:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:42:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:42:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:42:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:42:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:42:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:42:52 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:42:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 15:42:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:42:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:43:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:43:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 10.99s (batch: 3.62s, save: 7.37s)	[pipeline.py: 300]
-05/10 15:43:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
-  episode_total: mean=207.20s, total=207.20s, count=1, min=207204.8ms, max=207204.8ms
-  sensor_polling: mean=479.7ms, total=143.92s, count=300, min=407.9ms, max=1037.6ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7370.0ms, max=7370.0ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=14.3ms, max=67.8ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.8ms, max=3620.8ms
-  task_sampling: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms
-  task_specific_sample: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:43:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:43:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:43:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:43:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038791m	[env.py: 870]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95762861  1.22364047  0.03879117] yaw=-141.0deg	[env.py: 1019]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66492268  0.30088829  0.03879117] yaw=164.0deg	[env.py: 1019]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69219998  0.26721462  0.03879117] yaw=169.4deg	[env.py: 1019]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms	[env.py: 1075]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.224, 0.039)	[env.py: 1079]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:43:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:43:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:43:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:43:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:43:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.604s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:43:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 84.402[deg]	[grasp_sample.py: 539]
-05/10 15:43:08 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:43:08 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 15:43:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:43:10 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:43:10 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:43:10 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes	[pipeline.py: 1323]
-05/10 15:43:10 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=4605.22s
-  House averages:
-  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
-  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
-  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
-  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
-  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
-  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
-  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:43:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:43:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4605.22s
-  Worker averages:
-  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
-  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
-  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
-  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
-  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
-  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
-  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:43:12 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:43:12 INFO: Success count: 8, Total count: 8	[pipeline.py: 1491]
-05/10 15:43:12 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 15:43:17 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:43:37 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:43:38 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:43:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:43:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:43:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:43:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:43:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.50s (batch: 3.60s, save: 7.91s)	[pipeline.py: 300]
-05/10 15:43:50 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.67s:
-  episode_total: mean=191.32s, total=191.32s, count=1, min=191315.7ms, max=191315.7ms
-  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=403.6ms, max=891.2ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.0ms, max=7906.0ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.7ms, max=76.1ms
-  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.4ms, max=3596.4ms
-  task_sampling: mean=666.9ms, total=666.9ms, count=1, min=666.9ms, max=666.9ms
-  task_specific_sample: mean=662.9ms, total=662.9ms, count=1, min=662.9ms, max=662.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=496.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:43:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:43:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:43:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036824m	[env.py: 870]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85187948  0.16475516  0.03682397] yaw=161.0deg	[env.py: 1019]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.9ms, total=352.0ms	[env.py: 1075]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.165, 0.037)	[env.py: 1079]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
-05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:43:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:43:52 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:43:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:43:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:43:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:43:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.468[m] 90.341[deg]	[grasp_sample.py: 539]
-05/10 15:43:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:43:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:43:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:44:02 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:44:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:44:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:44:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:44:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:44:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.15s (batch: 3.97s, save: 8.18s)	[pipeline.py: 300]
-05/10 15:44:15 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.17s:
-  episode_total: mean=162.36s, total=324.71s, count=2, min=139791.3ms, max=184919.1ms
-  sensor_polling: mean=453.9ms, total=252.83s, count=557, min=387.0ms, max=1001.4ms
-  physics_step: mean=21.7ms, total=12.10s, count=557, min=14.1ms, max=107.9ms
-  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8176.4ms, max=8176.4ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.2ms, max=3973.2ms
-  task_sampling: mean=586.9ms, total=1.17s, count=2, min=322.3ms, max=851.6ms
-  task_specific_sample: mean=583.8ms, total=1.17s, count=2, min=319.1ms, max=848.5ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=1.9ms
-  mj_forward_sync: mean=428.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:44:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:44:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:44:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:44:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016924m	[env.py: 870]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65024039  0.27041756  0.01692407] yaw=169.3deg	[env.py: 1019]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85200132  0.84241613  0.01692407] yaw=-146.8deg	[env.py: 1019]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69144209  0.55220124  0.01692407] yaw=-174.9deg	[env.py: 1019]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:44:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms	[env.py: 1075]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.270, 0.017)	[env.py: 1079]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg	[env.py: 1082]
-05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:44:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:44:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:44:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:44:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:44:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:44:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:44:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:44:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.611[m] 88.994[deg]	[grasp_sample.py: 539]
-05/10 15:44:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:44:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:44:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:44:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:44:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:44:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:44:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:44:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:44:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:44:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.123[deg]	[grasp_sample.py: 539]
-05/10 15:44:41 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:44:42 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:44:42 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:44:42 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
-05/10 15:44:42 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4781.20s
-  House averages:
-  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
-  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
-  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
-  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
-  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
-  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
-  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:44:42 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:44:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4781.20s
-  Worker averages:
-  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
-  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
-  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
-  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
-  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
-  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
-  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:44:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:44:45 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
-05/10 15:44:45 INFO: Success rate: 90.91%	[pipeline.py: 1492]
-05/10 15:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:44:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:45:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:45:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:45:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:45:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:45:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:45:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.474[deg]	[grasp_sample.py: 539]
-05/10 15:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:45:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:45:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:45:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:46:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:46:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:46:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:46:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.419[deg]	[grasp_sample.py: 539]
-05/10 15:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:46:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:46:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:46:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:46:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:46:54 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:46:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:46:55 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:47:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:47:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:47:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.87s (batch: 4.14s, save: 7.74s)	[pipeline.py: 300]
-05/10 15:47:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.62s:
-  episode_total: mean=194.95s, total=194.95s, count=1, min=194949.9ms, max=194949.9ms
-  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=375.1ms, max=684.4ms
-  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7738.1ms, max=7738.1ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=11.9ms, max=71.4ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.5ms, max=4136.5ms
-  task_sampling: mean=621.8ms, total=621.8ms, count=1, min=621.8ms, max=621.8ms
-  task_specific_sample: mean=617.9ms, total=617.9ms, count=1, min=617.9ms, max=617.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:47:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090941m	[env.py: 870]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79627506  0.37926547  0.09094105] yaw=174.7deg	[env.py: 1019]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93812119  1.03832252  0.09094105] yaw=-140.6deg	[env.py: 1019]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73889321  0.33137802  0.09094105] yaw=180.4deg	[env.py: 1019]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms	[env.py: 1075]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.379, 0.091)	[env.py: 1079]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:47:09 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 95.930[deg]	[grasp_sample.py: 539]
-05/10 15:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:47:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:47:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:47:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:47:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:47:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:47:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.15s (batch: 4.19s, save: 9.96s)	[pipeline.py: 300]
-05/10 15:47:31 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
-  episode_total: mean=194.58s, total=194.58s, count=1, min=194582.7ms, max=194582.7ms
-  sensor_polling: mean=436.8ms, total=131.04s, count=300, min=365.6ms, max=819.4ms
-  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9957.3ms, max=9957.3ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.4ms, max=67.8ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4193.9ms, max=4193.9ms
-  task_sampling: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
-  task_specific_sample: mean=355.0ms, total=355.0ms, count=1, min=355.0ms, max=355.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:47:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:47:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:47:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052707m	[env.py: 870]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72703923  0.60465551  0.05270706] yaw=-182.9deg	[env.py: 1019]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84979175  0.69486314  0.05270706] yaw=-162.9deg	[env.py: 1019]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.978336    0.71395464  0.05270706] yaw=-169.6deg	[env.py: 1019]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.2ms	[env.py: 1075]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.605, 0.053)	[env.py: 1079]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
-05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:47:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:47:33 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:47:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:47:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:47:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:47:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 88.351[deg]	[grasp_sample.py: 539]
-05/10 15:47:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:47:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:47:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:47:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:48:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:48:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:48:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:48:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:49:49 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:49:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:50:11 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:50:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:50:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:50:12 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:50:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:50:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.04s (batch: 3.73s, save: 9.31s)	[pipeline.py: 300]
-05/10 15:50:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=196.13s, total=196.13s, count=1, min=196133.8ms, max=196133.8ms
-  sensor_polling: mean=430.7ms, total=129.20s, count=300, min=375.7ms, max=757.8ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9314.5ms, max=9314.5ms
-  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.3ms, max=35.5ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.2ms, max=3728.2ms
-  task_sampling: mean=469.3ms, total=469.3ms, count=1, min=469.3ms, max=469.3ms
-  task_specific_sample: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=604.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:50:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:50:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062614m	[env.py: 870]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93304815  0.53133252  0.06261408] yaw=-177.5deg	[env.py: 1019]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94156803  1.02894797  0.06261408] yaw=-155.5deg	[env.py: 1019]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81124458  0.68511936  0.06261408] yaw=-174.6deg	[env.py: 1019]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms	[env.py: 1075]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.531, 0.063)	[env.py: 1079]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg	[env.py: 1082]
-05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:50:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:50:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:50:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:50:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:50:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.53s (batch: 3.51s, save: 11.02s)	[pipeline.py: 300]
-05/10 15:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:50:27 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
-  episode_total: mean=174.70s, total=174.70s, count=1, min=174702.5ms, max=174702.5ms
-  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=370.1ms, max=897.1ms
-  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.5ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.0ms, max=63.1ms
-  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3510.6ms, max=3510.6ms
-  task_sampling: mean=355.1ms, total=355.1ms, count=1, min=355.1ms, max=355.1ms
-  task_specific_sample: mean=351.7ms, total=351.7ms, count=1, min=351.7ms, max=351.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:50:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:50:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.279[m] 81.906[deg]	[grasp_sample.py: 539]
-05/10 15:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:50:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:50:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:50:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:50:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:50:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031066m	[env.py: 870]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80405908  0.60332088  0.03106559] yaw=-169.6deg	[env.py: 1019]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81265179  0.09644433  0.03106559] yaw=148.5deg	[env.py: 1019]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9062088   0.68454184  0.03106559] yaw=-166.6deg	[env.py: 1019]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms	[env.py: 1075]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.603, 0.031)	[env.py: 1079]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg	[env.py: 1082]
-05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:50:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:50:29 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:50:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:50:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:50:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:50:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:50:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:50:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 93.781[deg]	[grasp_sample.py: 539]
-05/10 15:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:50:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:51:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:51:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:51:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:51:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:51:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:52:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:52:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:52:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:52:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:52:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:52:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.758[deg]	[grasp_sample.py: 539]
-05/10 15:52:02 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:52:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:52:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:52:04 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
-05/10 15:52:04 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5573.03s
-  House averages:
-  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
-  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
-  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
-  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
-  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
-  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
-  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:52:04 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:52:04 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5573.03s
-  Worker averages:
-  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
-  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
-  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
-  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
-  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
-  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
-  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:52:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:52:06 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
-05/10 15:52:06 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 15:52:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:53:08 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
-05/10 15:53:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:53:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:53:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:53:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
-05/10 15:53:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 10.80s (batch: 3.36s, save: 7.44s)	[pipeline.py: 300]
-05/10 15:53:19 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=170.51s, total=170.51s, count=1, min=170506.0ms, max=170506.0ms
-  sensor_polling: mean=419.1ms, total=125.74s, count=300, min=369.4ms, max=733.2ms
-  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7440.8ms, max=7440.8ms
-  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.1ms, max=49.8ms
-  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.1ms, max=3361.1ms
-  task_sampling: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
-  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:53:20 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:53:20 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
-05/10 15:53:20 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
-05/10 15:53:20 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5745.65s
-  House averages:
-  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
-  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
-  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
-  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
-  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
-  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 15:53:20 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 15:53:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5745.65s
-  Worker averages:
-  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
-  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
-  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
-  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
-  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
-  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 15:53:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 15:53:23 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
-05/10 15:53:23 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_002/shard_1_of_4.log b/fridge_7/chunk_002/shard_1_of_4.log
deleted file mode 100644
index e0ce7667756f96e9beb10180e496dd39242b34a0..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/shard_1_of_4.log
+++ /dev/null
@@ -1,1815 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
-  shard=1/4  seed=20201  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:55 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:00:55 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:00:55 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:00:55 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x766e8ad0a310>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20201,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:00:55 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:00:55 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130217152060240 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130217152060240 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130217152060240 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130217152060240 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130217144286160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130217144286160 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130217144286800 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130217144286800 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130217144286800 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130217144286800 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130217144286160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130217144286160 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130217145055056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130217145055056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130217145048784 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130217145048784 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130217145048784 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130217145048784 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130217145055056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130217145055056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:00:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 580b9a8f4150 at 0x766e8b297050>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 580b9a8f5c20 at 0x766e8b2a67d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 580b9a8f5c20 at 0x766e8b232050>
-[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:00:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:00:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 15:00:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:00:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:00:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051103m
-[05/10 15:00:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:00:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:00:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:00:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6891747   0.70851847  0.05110259] yaw=-172.9deg
-[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03203777  1.00534542  0.05110259] yaw=-133.3deg
-[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98854436  1.08197534  0.05110259] yaw=-148.8deg
-[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:00:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:00:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=11.8ms, retries=79.3ms, total=91.2ms
-[05/10 15:00:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.709, 0.051)
-[05/10 15:00:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg
-[05/10 15:00:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.939s
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.405s, found feasible grasp: True
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 89.179[deg]
-[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:03:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:03:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:03:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:03:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:04:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:04:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:04:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.43s (batch: 3.86s, save: 7.58s)
-[05/10 15:04:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.07s:
-  episode_total: mean=195.20s, total=195.20s, count=1, min=195197.9ms, max=195197.9ms
-  sensor_polling: mean=425.4ms, total=127.63s, count=300, min=397.2ms, max=599.1ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7575.4ms, max=7575.4ms
-  physics_step: mean=18.7ms, total=5.61s, count=300, min=15.5ms, max=27.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
-  task_sampling: mean=3.07s, total=3.07s, count=1, min=3072.7ms, max=3072.7ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  task_specific_sample: mean=330.7ms, total=330.7ms, count=1, min=330.7ms, max=330.7ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=438.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:04:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:04:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:04:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:04:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:04:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:04:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:04:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/10 15:04:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:04:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:04:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025738m
-[05/10 15:04:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:04:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:04:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:04:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81251336  0.40575623  0.02573833] yaw=164.3deg
-[05/10 15:04:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63638621  0.53433413  0.02573833] yaw=-182.8deg
-[05/10 15:04:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:04:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms
-[05/10 15:04:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.406, 0.026)
-[05/10 15:04:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
-[05/10 15:04:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/10 15:04:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:04:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:04:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:04:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:04:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:04:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/10 15:04:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:04:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:04:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:04:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
-[05/10 15:04:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.485[m] 96.677[deg]
-[05/10 15:04:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:06:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:06:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:06:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:07:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:07:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:07:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.65s (batch: 3.84s, save: 7.80s)
-[05/10 15:07:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
-  episode_total: mean=171.06s, total=171.06s, count=1, min=171060.8ms, max=171060.8ms
-  sensor_polling: mean=426.4ms, total=127.92s, count=300, min=384.6ms, max=620.9ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7802.4ms, max=7802.4ms
-  physics_step: mean=20.1ms, total=6.04s, count=300, min=14.8ms, max=29.8ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.8ms, total=452.8ms, count=1, min=452.8ms, max=452.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=383.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:07:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:07:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 15:07:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:07:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:07:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036849m
-[05/10 15:07:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:07:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:07:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12790014  1.17801895  0.03684898] yaw=-122.9deg
-[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93997321  0.84389195  0.03684898] yaw=-159.5deg
-[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73304657  0.2382169   0.03684898] yaw=170.9deg
-[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:07:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:07:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms
-[05/10 15:07:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.178, 0.037)
-[05/10 15:07:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg
-[05/10 15:07:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:07:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/10 15:07:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:07:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:07:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 15:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True
-[05/10 15:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 80.244[deg]
-[05/10 15:07:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:07:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:07:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:09:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:09:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:09:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:09:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
-[05/10 15:09:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.526s, found feasible grasp: True
-[05/10 15:09:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.335[deg]
-[05/10 15:09:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:09:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:09:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:09:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 15:09:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:09:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:09:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032027m
-[05/10 15:09:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:09:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:09:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92212591  0.49160605  0.03202726] yaw=-190.7deg
-[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84923984  0.53764319  0.03202726] yaw=-181.3deg
-[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81781825  0.98265701  0.03202726] yaw=-141.6deg
-[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:09:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:09:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms
-[05/10 15:09:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.492, 0.032)
-[05/10 15:09:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -190.7 deg
-[05/10 15:09:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:09:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:09:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 15:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 15:09:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:09:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:09:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 15:09:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True
-[05/10 15:09:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 97.342[deg]
-[05/10 15:09:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:09:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:09:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:11:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:11:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:11:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:11:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
-[05/10 15:12:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:12:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:12:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.50s (batch: 3.96s, save: 10.54s)
-[05/10 15:12:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
-  episode_total: mean=153.08s, total=306.16s, count=2, min=126177.5ms, max=179984.8ms
-  sensor_polling: mean=439.6ms, total=231.24s, count=526, min=377.8ms, max=711.0ms
-  physics_step: mean=20.9ms, total=11.00s, count=526, min=14.2ms, max=50.5ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.2ms, max=3960.2ms
-  task_sampling: mean=357.6ms, total=715.2ms, count=2, min=322.1ms, max=393.1ms
-  task_specific_sample: mean=354.3ms, total=708.5ms, count=2, min=319.3ms, max=389.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=403.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:12:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:12:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:12:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 15:12:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:12:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:12:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021003m
-[05/10 15:12:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:12:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:12:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93511618  0.32450016  0.02100292] yaw=177.1deg
-[05/10 15:12:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:12:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:12:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.5ms, total=281.6ms
-[05/10 15:12:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.325, 0.021)
-[05/10 15:12:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg
-[05/10 15:12:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.783m
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:12:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:12:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:12:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 15:12:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/10 15:12:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:12:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:12:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 15:12:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
-[05/10 15:12:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.358[m] 88.700[deg]
-[05/10 15:12:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:12:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:13:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:13:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:13:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:13:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps
-[05/10 15:13:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.458s, found feasible grasp: True
-[05/10 15:13:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.484[deg]
-[05/10 15:13:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:13:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:13:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:14:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:14:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps
-[05/10 15:15:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.126s, found feasible grasp: True
-[05/10 15:15:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.567[deg]
-[05/10 15:15:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:15:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:15:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:15:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 15:15:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:15:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:15:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061075m
-[05/10 15:15:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:15:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:15:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7674402   0.25677329  0.06107542] yaw=170.8deg
-[05/10 15:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70814616  0.17045231  0.06107542] yaw=154.8deg
-[05/10 15:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:15:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms
-[05/10 15:15:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.257, 0.061)
-[05/10 15:15:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg
-[05/10 15:15:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:15:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:15:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 15:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
-[05/10 15:15:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:15:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:15:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 15:15:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True
-[05/10 15:15:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.542[m] 93.965[deg]
-[05/10 15:15:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:15:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:16:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:17:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:17:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
-[05/10 15:17:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True
-[05/10 15:17:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]
-[05/10 15:17:42 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:17:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:17:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:17:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/10 15:17:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:17:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:17:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091500m
-[05/10 15:17:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:17:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:17:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14870393  1.0364571   0.09150003] yaw=-126.7deg
-[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62720695  0.28220341  0.09150003] yaw=170.4deg
-[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93848095  0.30150289  0.09150003] yaw=164.0deg
-[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:17:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:17:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.6ms, total=73.6ms
-[05/10 15:17:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.036, 0.092)
-[05/10 15:17:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg
-[05/10 15:17:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:17:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:17:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 15:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 15:17:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:17:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:17:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.437[deg]
-[05/10 15:17:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:19:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
-[05/10 15:20:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.538s, found feasible grasp: True
-[05/10 15:20:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.273[deg]
-[05/10 15:20:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:20:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:20:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 15:20:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:20:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:20:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055394m
-[05/10 15:20:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:20:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:20:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88465202  0.8716821   0.0553943 ] yaw=-164.2deg
-[05/10 15:20:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:20:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79937941  0.09115683  0.0553943 ] yaw=145.5deg
-[05/10 15:20:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:20:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:20:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=816.2ms, total=816.2ms
-[05/10 15:20:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.055)
-[05/10 15:20:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg
-[05/10 15:20:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
-[05/10 15:20:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:20:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 15:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/10 15:20:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:20:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:20:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/10 15:20:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True
-[05/10 15:20:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 78.615[deg]
-[05/10 15:20:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:22:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:23:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:23:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:23:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:23:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.88s (batch: 4.11s, save: 7.77s)
-[05/10 15:23:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=2.41s:
-  episode_total: mean=163.92s, total=655.69s, count=4, min=144708.8ms, max=184089.6ms
-  sensor_polling: mean=449.1ms, total=515.53s, count=1148, min=378.9ms, max=901.5ms
-  physics_step: mean=21.0ms, total=24.07s, count=1148, min=12.7ms, max=95.8ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7767.9ms, max=7767.9ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.0ms, max=4109.0ms
-  task_sampling: mean=601.9ms, total=2.41s, count=4, min=309.4ms, max=1067.7ms
-  task_specific_sample: mean=598.5ms, total=2.39s, count=4, min=306.0ms, max=1064.4ms
-  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=432.3us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 15:23:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:23:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 15:23:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:23:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:23:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028266m
-[05/10 15:23:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:23:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:23:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9659717   0.16106573  0.0282664 ] yaw=153.8deg
-[05/10 15:23:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8724435   0.26175529  0.0282664 ] yaw=164.8deg
-[05/10 15:23:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:23:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:23:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms
-[05/10 15:23:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.161, 0.028)
-[05/10 15:23:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg
-[05/10 15:23:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.803m
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:23:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 15:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 15:23:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:23:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:23:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:23:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True
-[05/10 15:23:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.410[m] 98.628[deg]
-[05/10 15:23:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:23:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:24:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:25:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:25:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:25:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:25:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
-[05/10 15:25:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.416s, found feasible grasp: True
-[05/10 15:25:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.133[deg]
-[05/10 15:25:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:25:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:25:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:25:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/10 15:25:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:25:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:25:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032934m
-[05/10 15:25:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:25:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:25:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70619424  0.88896327  0.03293427] yaw=-159.9deg
-[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:25:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:25:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77189898  0.72969017  0.03293427] yaw=-174.9deg
-[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75162876  0.31279469  0.03293427] yaw=165.3deg
-[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:25:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:25:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.5ms, total=388.5ms
-[05/10 15:25:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.889, 0.033)
-[05/10 15:25:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
-[05/10 15:25:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:25:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:25:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:25:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 15:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 15:25:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:25:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:25:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 15:25:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True
-[05/10 15:25:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.674[m] 91.745[deg]
-[05/10 15:25:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:27:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:28:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:28:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:28:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:28:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:28:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:28:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.33s (batch: 4.28s, save: 10.05s)
-[05/10 15:28:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.99s:
-  episode_total: mean=149.14s, total=298.27s, count=2, min=116179.6ms, max=182091.9ms
-  sensor_polling: mean=444.1ms, total=223.40s, count=503, min=370.2ms, max=771.9ms
-  physics_step: mean=20.1ms, total=10.11s, count=503, min=14.4ms, max=112.3ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.5ms, max=10047.5ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.9ms, max=4278.9ms
-  task_sampling: mean=496.1ms, total=992.1ms, count=2, min=394.6ms, max=597.5ms
-  task_specific_sample: mean=492.9ms, total=985.8ms, count=2, min=391.2ms, max=594.7ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=401.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:28:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:28:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:28:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 15:28:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:28:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:28:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094349m
-[05/10 15:28:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:28:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:28:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:28:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16839351  1.0296962   0.09434923] yaw=-141.6deg
-[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73555742  0.62744977  0.09434923] yaw=-179.8deg
-[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:28:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88863144  0.62848737  0.09434923] yaw=-173.4deg
-[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:28:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:28:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms
-[05/10 15:28:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.030, 0.094)
-[05/10 15:28:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg
-[05/10 15:28:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.765m
-[05/10 15:28:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:28:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:28:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:28:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:28:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:28:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 15:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 15:28:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:28:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:28:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:28:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
-[05/10 15:28:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.351[m] 78.152[deg]
-[05/10 15:28:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:28:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:30:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:30:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:30:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:30:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:30:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:30:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps
-[05/10 15:30:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.387s, found feasible grasp: True
-[05/10 15:30:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
-[05/10 15:30:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:30:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:30:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 15:30:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:30:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:30:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058338m
-[05/10 15:30:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:30:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:30:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03761307  1.03416094  0.05833845] yaw=-143.4deg
-[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84980173  1.07652642  0.05833845] yaw=-134.8deg
-[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:30:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.789332    0.55429877  0.05833845] yaw=-176.8deg
-[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:30:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:30:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms
-[05/10 15:30:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.034, 0.058)
-[05/10 15:30:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg
-[05/10 15:30:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.864m
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:30:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 15:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 15:30:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:30:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:30:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:30:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True
-[05/10 15:30:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.408[m] 82.942[deg]
-[05/10 15:30:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:31:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:32:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:32:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:32:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:33:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:33:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:33:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
-[05/10 15:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.381s, found feasible grasp: True
-[05/10 15:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.338[deg]
-[05/10 15:33:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:33:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:33:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 15:33:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:33:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:33:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046448m
-[05/10 15:33:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:33:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:33:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81807479  1.01093162  0.04644801] yaw=-150.7deg
-[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:33:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82674188  0.36126547  0.04644801] yaw=177.7deg
-[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01376668  1.06871172  0.04644801] yaw=-129.1deg
-[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:33:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:33:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms
-[05/10 15:33:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 1.011, 0.046)
-[05/10 15:33:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg
-[05/10 15:33:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.030m
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:33:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 15:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 15:33:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:33:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:33:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:33:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.390s, found feasible grasp: True
-[05/10 15:33:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.602[m] 87.041[deg]
-[05/10 15:33:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:33:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:33:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 15:33:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:33:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:33:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045827m
-[05/10 15:33:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:33:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:33:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71795641  0.82880664  0.04582697] yaw=-158.5deg
-[05/10 15:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:33:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:33:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms
-[05/10 15:33:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.829, 0.046)
-[05/10 15:33:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
-[05/10 15:33:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.044m
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:33:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 15:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 15:33:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:33:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:33:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 15:33:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True
-[05/10 15:33:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.588[m] 87.204[deg]
-[05/10 15:33:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:34:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:35:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:35:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:35:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:35:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:36:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:36:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:36:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 3.65s, save: 9.99s)
-[05/10 15:36:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.98s:
-  episode_total: mean=117.73s, total=470.91s, count=4, min=3799.2ms, max=181033.6ms
-  sensor_polling: mean=451.6ms, total=380.74s, count=843, min=370.9ms, max=939.3ms
-  physics_step: mean=20.9ms, total=17.61s, count=843, min=13.3ms, max=84.1ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.1ms, max=9991.1ms
-  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.6ms, max=3645.6ms
-  task_sampling: mean=494.9ms, total=1.98s, count=4, min=315.3ms, max=747.6ms
-  task_specific_sample: mean=491.3ms, total=1.97s, count=4, min=312.5ms, max=743.1ms
-  scene_randomize: mean=1.8ms, total=7.3ms, count=4, min=1.2ms, max=3.1ms
-  mj_forward_sync: mean=409.4us, total=1.6ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 15:36:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:36:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 15:36:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:36:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:36:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019535m
-[05/10 15:36:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:36:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:36:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75742575  0.17922135  0.01953546] yaw=152.2deg
-[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:36:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8826288   0.56357826  0.01953546] yaw=-176.3deg
-[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:36:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77261319  0.6558228   0.01953546] yaw=-177.1deg
-[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:36:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:36:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms
-[05/10 15:36:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.179, 0.020)
-[05/10 15:36:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg
-[05/10 15:36:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:36:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 15:36:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 15:36:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:36:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:36:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:36:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True
-[05/10 15:36:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.617[m] 100.222[deg]
-[05/10 15:36:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:36:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:36:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/10 15:36:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:36:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:36:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064873m
-[05/10 15:36:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:36:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:36:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86866488  1.12694242  0.06487273] yaw=-140.7deg
-[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86811934  0.2034852   0.06487273] yaw=153.4deg
-[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074509  1.23070773  0.06487273] yaw=-138.3deg
-[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:36:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:36:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms
-[05/10 15:36:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.127, 0.065)
-[05/10 15:36:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg
-[05/10 15:36:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:36:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 15:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 15:36:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:36:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:36:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:36:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True
-[05/10 15:36:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.603[m] 83.737[deg]
-[05/10 15:36:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:38:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:38:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:38:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:38:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:38:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
-[05/10 15:38:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 2.556s, found feasible grasp: True
-[05/10 15:38:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]
-[05/10 15:38:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:39:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:39:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:39:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:39:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:39:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:39:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:39:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.07s (batch: 3.63s, save: 7.44s)
-[05/10 15:39:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
-  episode_total: mean=99.32s, total=198.63s, count=2, min=3024.4ms, max=195608.8ms
-  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=397.3ms, max=726.7ms
-  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7437.5ms, max=7437.5ms
-  physics_step: mean=20.7ms, total=6.20s, count=300, min=13.7ms, max=60.2ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3631.2ms, max=3631.2ms
-  task_sampling: mean=345.2ms, total=690.4ms, count=2, min=320.3ms, max=370.1ms
-  task_specific_sample: mean=342.1ms, total=684.3ms, count=2, min=317.7ms, max=366.6ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:39:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:39:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:39:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 15:39:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:39:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:39:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099156m
-[05/10 15:39:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:39:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:39:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81729541  0.20841457  0.09915578] yaw=162.1deg
-[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96895406  0.30623068  0.09915578] yaw=157.4deg
-[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83685355  0.73325956  0.09915578] yaw=-167.3deg
-[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:39:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:39:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms
-[05/10 15:39:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.208, 0.099)
-[05/10 15:39:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg
-[05/10 15:39:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:39:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:39:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:39:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 15:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s
-[05/10 15:39:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:39:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:39:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:39:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True
-[05/10 15:39:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.486[m] 91.171[deg]
-[05/10 15:39:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:40:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:41:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:41:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:41:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:41:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:41:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
-[05/10 15:41:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.889s, found feasible grasp: True
-[05/10 15:41:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]
-[05/10 15:41:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:42:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:42:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:42:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:42:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:42:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
-[05/10 15:42:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:43:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:43:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:43:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 10.99s (batch: 3.62s, save: 7.37s)
-[05/10 15:43:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
-  episode_total: mean=207.20s, total=207.20s, count=1, min=207204.8ms, max=207204.8ms
-  sensor_polling: mean=479.7ms, total=143.92s, count=300, min=407.9ms, max=1037.6ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7370.0ms, max=7370.0ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=14.3ms, max=67.8ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.8ms, max=3620.8ms
-  task_sampling: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms
-  task_specific_sample: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:43:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:43:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:43:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 15:43:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:43:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:43:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038791m
-[05/10 15:43:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:43:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:43:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95762861  1.22364047  0.03879117] yaw=-141.0deg
-[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:43:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66492268  0.30088829  0.03879117] yaw=164.0deg
-[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:43:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69219998  0.26721462  0.03879117] yaw=169.4deg
-[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:43:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:43:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms
-[05/10 15:43:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.224, 0.039)
-[05/10 15:43:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
-[05/10 15:43:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:43:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:43:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 15:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 15:43:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:43:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:43:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 15:43:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.604s, found feasible grasp: True
-[05/10 15:43:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 84.402[deg]
-[05/10 15:43:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:43:08 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
-[05/10 15:43:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:43:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:43:10 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/8 successful episodes
-[05/10 15:43:10 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=4605.22s
-  House averages:
-  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
-  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
-  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
-  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
-  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
-  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
-  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:43:10 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:43:10 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4605.22s
-  Worker averages:
-  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
-  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
-  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
-  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
-  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
-  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
-  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
-  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
-  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
-  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
-  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
-  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
-  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
-  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
-  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:43:12 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:43:12 INFO pipeline.py:1491] Success count: 8, Total count: 8
-[05/10 15:43:12 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
-==========================================
diff --git a/fridge_7/chunk_002/shard_2_of_4.log b/fridge_7/chunk_002/shard_2_of_4.log
deleted file mode 100644
index 4c57b88a3311860621c60c911b773f3f2bbdabd0..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/shard_2_of_4.log
+++ /dev/null
@@ -1,1751 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
-  shard=2/4  seed=20202  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x749ca6f75b10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20202,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 128216162077136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128216162077136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 128216162077136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128216162077136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 128216164527312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128216164527312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128216164528528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128216164528528 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128216164528528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128216164528528 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128216164527312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128216164527312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128216168198032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128216168198032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128216168191760 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128216168191760 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 128216168191760 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128216168191760 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128216168198032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128216168198032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:00:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 63d754f8a0c0 at 0x749ca750f750>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 63d754f8bb90 at 0x749ca6f33910>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 63d754f8bb90 at 0x749ca74a1290>
-[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069727m
-[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78023289  0.25399705  0.06972744] yaw=175.1deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12271724  1.21008531  0.06972744] yaw=-137.8deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=18.7ms, retries=437.3ms, total=455.9ms
-[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.254, 0.070)
-[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.862s
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.508[m] 86.733[deg]
-[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:02:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:03:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:03:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:03:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:03:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 15:03:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.627s, found feasible grasp: True
-[05/10 15:03:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.829[deg]
-[05/10 15:03:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:03:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:03:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:03:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:03:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:03:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:03:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:03:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 15:03:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:03:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:03:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053249m
-[05/10 15:03:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:03:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:03:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76947175  0.82204472  0.05324942] yaw=-168.3deg
-[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92157622  0.77025892  0.05324942] yaw=-163.4deg
-[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85212985  0.82298881  0.05324942] yaw=-147.3deg
-[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:03:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:03:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.8ms
-[05/10 15:03:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.822, 0.053)
-[05/10 15:03:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg
-[05/10 15:03:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/10 15:03:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:03:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:03:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:03:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:03:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:03:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/10 15:03:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:03:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:03:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:03:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True
-[05/10 15:03:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 92.419[deg]
-[05/10 15:03:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:05:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:06:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:06:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:06:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:06:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.62s (batch: 4.22s, save: 7.40s)
-[05/10 15:06:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.37s:
-  episode_total: mean=164.55s, total=329.11s, count=2, min=160887.4ms, max=168217.8ms
-  sensor_polling: mean=425.9ms, total=240.62s, count=565, min=368.4ms, max=615.7ms
-  physics_step: mean=19.4ms, total=10.94s, count=565, min=14.2ms, max=32.9ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7400.7ms, max=7400.7ms
-  task_sampling: mean=2.19s, total=4.37s, count=2, min=587.7ms, max=3783.9ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.5ms, max=4223.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  task_specific_sample: mean=679.3ms, total=1.36s, count=2, min=585.2ms, max=773.4ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.7us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:06:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:06:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:06:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 15:06:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:06:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:06:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087335m
-[05/10 15:06:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:06:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:06:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70560077  0.50577496  0.08733465] yaw=-167.4deg
-[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67504379  0.57067181  0.08733465] yaw=-177.3deg
-[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91832578  0.79003984  0.08733465] yaw=-166.8deg
-[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:06:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:06:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms
-[05/10 15:06:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.506, 0.087)
-[05/10 15:06:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
-[05/10 15:06:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.997m
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:06:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:06:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 15:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 15:06:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:06:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:06:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 15:06:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/10 15:06:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.598[m] 95.117[deg]
-[05/10 15:06:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:08:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:09:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:09:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:09:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:09:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:09:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:09:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.28s (batch: 3.97s, save: 7.31s)
-[05/10 15:09:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
-  episode_total: mean=174.89s, total=174.89s, count=1, min=174889.2ms, max=174889.2ms
-  sensor_polling: mean=424.2ms, total=127.25s, count=300, min=368.0ms, max=647.7ms
-  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7312.4ms, max=7312.4ms
-  physics_step: mean=19.0ms, total=5.71s, count=300, min=14.0ms, max=35.4ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3967.4ms, max=3967.4ms
-  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
-  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:09:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:09:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:09:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 15:09:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:09:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:09:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031032m
-[05/10 15:09:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:09:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:09:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92378805  0.74801072  0.03103215] yaw=-169.0deg
-[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98838141  0.09653354  0.03103215] yaw=151.6deg
-[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6800414   0.09464083  0.03103215] yaw=157.3deg
-[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:09:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:09:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=104.9ms
-[05/10 15:09:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.748, 0.031)
-[05/10 15:09:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
-[05/10 15:09:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:09:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:09:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 15:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/10 15:09:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:09:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:09:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:09:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True
-[05/10 15:09:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.410[m] 84.474[deg]
-[05/10 15:09:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:10:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:11:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:12:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:12:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:12:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:12:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:12:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:12:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.82s (batch: 3.81s, save: 8.01s)
-[05/10 15:12:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.41s:
-  episode_total: mean=182.69s, total=182.69s, count=1, min=182694.6ms, max=182694.6ms
-  sensor_polling: mean=453.7ms, total=136.10s, count=300, min=383.3ms, max=806.7ms
-  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8007.1ms, max=8007.1ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=14.6ms, max=49.9ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.3ms, max=3812.3ms
-  task_sampling: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
-  task_specific_sample: mean=401.7ms, total=401.7ms, count=1, min=401.7ms, max=401.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:12:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:12:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:12:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 15:12:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:12:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:12:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078753m
-[05/10 15:12:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:12:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:12:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72688142  0.36417524  0.07875303] yaw=171.7deg
-[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08394681  1.08118678  0.07875303] yaw=-139.4deg
-[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96252174  1.10673818  0.07875303] yaw=-144.6deg
-[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:12:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:12:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.8ms
-[05/10 15:12:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.364, 0.079)
-[05/10 15:12:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg
-[05/10 15:12:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:12:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:12:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 15:12:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 15:12:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:12:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:12:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:12:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
-[05/10 15:12:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.557[m] 94.329[deg]
-[05/10 15:12:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:12:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:12:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:14:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:14:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:14:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:14:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 15:14:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True
-[05/10 15:14:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.297[deg]
-[05/10 15:14:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:15:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:15:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:15:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:15:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:15:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:15:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:15:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.48s (batch: 3.77s, save: 7.71s)
-[05/10 15:15:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=195.51s, total=195.51s, count=1, min=195510.2ms, max=195510.2ms
-  sensor_polling: mean=451.6ms, total=135.47s, count=300, min=377.2ms, max=824.0ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7710.1ms, max=7710.1ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.1ms, max=66.1ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.3ms, max=3768.3ms
-  task_sampling: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
-  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:15:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:15:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:15:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 15:15:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:15:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:15:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084600m
-[05/10 15:15:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:15:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:15:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85888419  0.27667371  0.08459955] yaw=156.4deg
-[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88504695  0.2310756   0.08459955] yaw=172.0deg
-[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76842707  0.21556228  0.08459955] yaw=156.8deg
-[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:15:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:15:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms
-[05/10 15:15:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.277, 0.085)
-[05/10 15:15:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg
-[05/10 15:15:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:15:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:15:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 15:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 15:15:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:15:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:15:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:15:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True
-[05/10 15:15:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.451[m] 89.535[deg]
-[05/10 15:15:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:16:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:17:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.326s, found feasible grasp: True
-[05/10 15:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]
-[05/10 15:17:46 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:17:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:17:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:17:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 15:17:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:17:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:17:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096079m
-[05/10 15:17:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:17:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:17:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92973054  0.94969255  0.09607925] yaw=-152.1deg
-[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94628923  1.17196324  0.09607925] yaw=-147.8deg
-[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67142639  0.79084276  0.09607925] yaw=-152.8deg
-[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:17:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:17:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.2ms, total=87.2ms
-[05/10 15:17:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.950, 0.096)
-[05/10 15:17:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
-[05/10 15:17:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:17:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:17:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 15:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
-[05/10 15:17:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:17:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:17:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:17:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True
-[05/10 15:17:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.938[deg]
-[05/10 15:17:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:18:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:20:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:20:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:20:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:20:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:20:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:20:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:20:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.66s (batch: 3.92s, save: 7.74s)
-[05/10 15:20:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.72s:
-  episode_total: mean=151.16s, total=302.32s, count=2, min=122365.1ms, max=179954.6ms
-  sensor_polling: mean=455.3ms, total=240.42s, count=528, min=386.5ms, max=814.6ms
-  physics_step: mean=21.4ms, total=11.28s, count=528, min=14.5ms, max=73.4ms
-  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7735.6ms, max=7735.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.3ms, max=3921.3ms
-  task_sampling: mean=358.0ms, total=716.0ms, count=2, min=321.1ms, max=394.9ms
-  task_specific_sample: mean=354.9ms, total=709.8ms, count=2, min=318.0ms, max=391.8ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms
-  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:20:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:20:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 15:20:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:20:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:20:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021715m
-[05/10 15:20:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:20:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:20:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73097765  0.80053144  0.02171546] yaw=-170.1deg
-[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73139211  0.19784628  0.02171546] yaw=153.7deg
-[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77906784  0.91390098  0.02171546] yaw=-159.1deg
-[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:20:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:20:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms
-[05/10 15:20:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.801, 0.022)
-[05/10 15:20:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg
-[05/10 15:20:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m
-[05/10 15:20:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:20:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 15:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 15:20:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:20:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:20:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:20:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.398s, found feasible grasp: True
-[05/10 15:20:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.363[deg]
-[05/10 15:20:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:23:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:23:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:23:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:23:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:23:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.46s (batch: 3.85s, save: 7.61s)
-[05/10 15:23:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
-  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.8ms, max=184663.8ms
-  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=390.4ms, max=1066.2ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7607.1ms, max=7607.1ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=44.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.7ms, max=3852.7ms
-  task_sampling: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=391.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:23:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:23:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
-[05/10 15:23:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:23:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:23:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001895m
-[05/10 15:23:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:23:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:23:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89403635  0.5861861   0.00189524] yaw=-180.0deg
-[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78270487  0.64632227  0.00189524] yaw=-177.3deg
-[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1595861   1.15852204  0.00189524] yaw=-118.7deg
-[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:23:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:23:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms
-[05/10 15:23:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.586, 0.002)
-[05/10 15:23:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg
-[05/10 15:23:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.815m
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:23:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 15:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 15:23:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:23:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:23:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:23:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True
-[05/10 15:23:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 79.992[deg]
-[05/10 15:23:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:23:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:23:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:26:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:26:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:26:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/10 15:26:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:26:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:26:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.99s (batch: 3.77s, save: 8.22s)
-[05/10 15:26:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
-  episode_total: mean=181.97s, total=181.97s, count=1, min=181972.9ms, max=181972.9ms
-  sensor_polling: mean=466.1ms, total=134.24s, count=288, min=396.5ms, max=812.7ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8217.9ms, max=8217.9ms
-  physics_step: mean=21.9ms, total=6.30s, count=288, min=13.9ms, max=59.0ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
-  task_sampling: mean=405.0ms, total=405.0ms, count=1, min=405.0ms, max=405.0ms
-  task_specific_sample: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:26:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:26:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:26:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 15:26:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:26:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:26:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006727m
-[05/10 15:26:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:26:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:26:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06599904  0.95476062  0.00672662] yaw=-143.5deg
-[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22528721  1.0654542   0.00672662] yaw=-131.2deg
-[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98588686  0.90346909  0.00672662] yaw=-155.2deg
-[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:26:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:26:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms
-[05/10 15:26:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.955, 0.007)
-[05/10 15:26:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg
-[05/10 15:26:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:27:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:27:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 15:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 15:27:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:27:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:27:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 15:27:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True
-[05/10 15:27:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.368[m] 89.643[deg]
-[05/10 15:27:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:27:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:29:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:29:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:29:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:29:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:29:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:29:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
-[05/10 15:30:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:30:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:30:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.33s (batch: 5.14s, save: 8.19s)
-[05/10 15:30:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
-  episode_total: mean=186.19s, total=186.19s, count=1, min=186193.5ms, max=186193.5ms
-  sensor_polling: mean=450.6ms, total=132.47s, count=294, min=394.0ms, max=826.1ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8191.0ms, max=8191.0ms
-  physics_step: mean=21.2ms, total=6.23s, count=294, min=14.2ms, max=53.3ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5141.5ms, max=5141.5ms
-  task_sampling: mean=356.3ms, total=356.3ms, count=1, min=356.3ms, max=356.3ms
-  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=385.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:30:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:30:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/10 15:30:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:30:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:30:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045285m
-[05/10 15:30:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:30:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:30:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02160074  1.06498708  0.04528494] yaw=-132.0deg
-[05/10 15:30:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:30:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08022114  1.13762463  0.04528494] yaw=-139.4deg
-[05/10 15:30:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:30:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:30:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms
-[05/10 15:30:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.065, 0.045)
-[05/10 15:30:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg
-[05/10 15:30:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.896m
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:30:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 15:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 15:30:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:30:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:30:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:30:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
-[05/10 15:30:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.502[m] 96.817[deg]
-[05/10 15:30:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:30:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:30:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:31:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 15:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.453s, found feasible grasp: True
-[05/10 15:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.361[deg]
-[05/10 15:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/10 15:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097569m
-[05/10 15:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69510615  0.87427323  0.09756912] yaw=-156.9deg
-[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82128021  0.69554009  0.09756912] yaw=-177.3deg
-[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9640902   1.04493337  0.09756912] yaw=-141.5deg
-[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms
-[05/10 15:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.874, 0.098)
-[05/10 15:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg
-[05/10 15:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:32:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 15:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/10 15:32:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:32:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:32:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.725s, found feasible grasp: True
-[05/10 15:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.679[m] 92.995[deg]
-[05/10 15:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:33:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:35:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:35:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:35:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:35:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:35:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:35:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:35:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.53s (batch: 4.60s, save: 7.94s)
-[05/10 15:35:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=170.35s, total=340.71s, count=2, min=156382.6ms, max=184322.6ms
-  sensor_polling: mean=445.8ms, total=266.13s, count=597, min=351.9ms, max=884.4ms
-  physics_step: mean=20.7ms, total=12.36s, count=597, min=13.5ms, max=59.8ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7939.3ms, max=7939.3ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4595.5ms, max=4595.5ms
-  task_sampling: mean=410.2ms, total=820.4ms, count=2, min=408.3ms, max=412.1ms
-  task_specific_sample: mean=406.9ms, total=813.8ms, count=2, min=405.3ms, max=408.5ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=433.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:35:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:35:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:35:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 15:35:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:35:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:35:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040870m
-[05/10 15:35:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:35:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:35:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:35:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93673663  0.68125278  0.04087015] yaw=-158.9deg
-[05/10 15:35:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:35:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:35:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms
-[05/10 15:35:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.681, 0.041)
-[05/10 15:35:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg
-[05/10 15:35:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:35:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:35:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:35:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 15:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 15:35:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:35:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:35:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 15:35:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True
-[05/10 15:35:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.325[m] 81.194[deg]
-[05/10 15:35:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:38:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
-[05/10 15:38:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:38:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:38:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 4.14s, save: 10.36s)
-[05/10 15:38:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.85s, total=175.85s, count=1, min=175845.2ms, max=175845.2ms
-  sensor_polling: mean=458.1ms, total=130.55s, count=285, min=379.3ms, max=806.0ms
-  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.9ms, max=10357.9ms
-  physics_step: mean=21.7ms, total=6.17s, count=285, min=13.8ms, max=107.7ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4135.7ms, max=4135.7ms
-  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  task_specific_sample: mean=408.9ms, total=408.9ms, count=1, min=408.9ms, max=408.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:38:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:38:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:38:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:38:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:38:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:38:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:38:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 15:38:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:38:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:38:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077584m
-[05/10 15:38:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:38:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:38:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81451832  0.20813035  0.07758399] yaw=157.0deg
-[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80297408  1.06544951  0.07758399] yaw=-145.4deg
-[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11328017  0.9892049   0.07758399] yaw=-133.1deg
-[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:38:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:38:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=563.2ms, total=563.3ms
-[05/10 15:38:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.208, 0.078)
-[05/10 15:38:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg
-[05/10 15:38:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
-[05/10 15:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:38:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:38:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 15:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 15:38:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:38:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:38:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True
-[05/10 15:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 87.776[deg]
-[05/10 15:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:39:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:40:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:41:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:41:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:41:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
-[05/10 15:41:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.445s, found feasible grasp: True
-[05/10 15:41:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.880[deg]
-[05/10 15:41:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:41:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:41:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:41:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 15:41:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:41:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:41:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010732m
-[05/10 15:41:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:41:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:41:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00263854  1.00791837  0.01073184] yaw=-151.4deg
-[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91553     0.59313921  0.01073184] yaw=-178.8deg
-[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91241894  0.38884235  0.01073184] yaw=163.6deg
-[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:41:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:41:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.0ms
-[05/10 15:41:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.008, 0.011)
-[05/10 15:41:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg
-[05/10 15:41:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:41:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:41:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 15:41:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 15:41:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:41:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:41:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:41:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True
-[05/10 15:41:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 100.225[deg]
-[05/10 15:41:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:42:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:43:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:44:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:44:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:44:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:44:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:44:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:44:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.15s (batch: 3.97s, save: 8.18s)
-[05/10 15:44:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.17s:
-  episode_total: mean=162.36s, total=324.71s, count=2, min=139791.3ms, max=184919.1ms
-  sensor_polling: mean=453.9ms, total=252.83s, count=557, min=387.0ms, max=1001.4ms
-  physics_step: mean=21.7ms, total=12.10s, count=557, min=14.1ms, max=107.9ms
-  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8176.4ms, max=8176.4ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.2ms, max=3973.2ms
-  task_sampling: mean=586.9ms, total=1.17s, count=2, min=322.3ms, max=851.6ms
-  task_specific_sample: mean=583.8ms, total=1.17s, count=2, min=319.1ms, max=848.5ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=1.9ms
-  mj_forward_sync: mean=428.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:44:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:44:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:44:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
-[05/10 15:44:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:44:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:44:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016924m
-[05/10 15:44:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:44:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:44:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:44:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65024039  0.27041756  0.01692407] yaw=169.3deg
-[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85200132  0.84241613  0.01692407] yaw=-146.8deg
-[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:44:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69144209  0.55220124  0.01692407] yaw=-174.9deg
-[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:44:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:44:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms
-[05/10 15:44:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.270, 0.017)
-[05/10 15:44:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg
-[05/10 15:44:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.073m
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:44:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:44:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 15:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 15:44:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:44:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:44:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 15:44:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
-[05/10 15:44:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.611[m] 88.994[deg]
-[05/10 15:44:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:44:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:44:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:46:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:46:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:46:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 15:46:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True
-[05/10 15:46:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.419[deg]
-[05/10 15:46:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:46:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:47:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:47:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:47:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:47:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:47:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:47:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.15s (batch: 4.19s, save: 9.96s)
-[05/10 15:47:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
-  episode_total: mean=194.58s, total=194.58s, count=1, min=194582.7ms, max=194582.7ms
-  sensor_polling: mean=436.8ms, total=131.04s, count=300, min=365.6ms, max=819.4ms
-  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9957.3ms, max=9957.3ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.4ms, max=67.8ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4193.9ms, max=4193.9ms
-  task_sampling: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
-  task_specific_sample: mean=355.0ms, total=355.0ms, count=1, min=355.0ms, max=355.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:47:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:47:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:47:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 15:47:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:47:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:47:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052707m
-[05/10 15:47:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:47:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:47:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72703923  0.60465551  0.05270706] yaw=-182.9deg
-[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:47:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84979175  0.69486314  0.05270706] yaw=-162.9deg
-[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.978336    0.71395464  0.05270706] yaw=-169.6deg
-[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:47:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:47:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.2ms
-[05/10 15:47:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.605, 0.053)
-[05/10 15:47:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg
-[05/10 15:47:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:47:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:47:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:47:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 15:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 15:47:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:47:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:47:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:47:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True
-[05/10 15:47:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.524[m] 88.351[deg]
-[05/10 15:47:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:48:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:49:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:50:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:50:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:50:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:50:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:50:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:50:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.53s (batch: 3.51s, save: 11.02s)
-[05/10 15:50:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
-  episode_total: mean=174.70s, total=174.70s, count=1, min=174702.5ms, max=174702.5ms
-  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=370.1ms, max=897.1ms
-  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.5ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.0ms, max=63.1ms
-  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3510.6ms, max=3510.6ms
-  task_sampling: mean=355.1ms, total=355.1ms, count=1, min=355.1ms, max=355.1ms
-  task_specific_sample: mean=351.7ms, total=351.7ms, count=1, min=351.7ms, max=351.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:50:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:50:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:50:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 15:50:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:50:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:50:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031066m
-[05/10 15:50:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:50:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:50:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80405908  0.60332088  0.03106559] yaw=-169.6deg
-[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81265179  0.09644433  0.03106559] yaw=148.5deg
-[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9062088   0.68454184  0.03106559] yaw=-166.6deg
-[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:50:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:50:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms
-[05/10 15:50:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.603, 0.031)
-[05/10 15:50:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg
-[05/10 15:50:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:50:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:50:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 15:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 15:50:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:50:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:50:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 15:50:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True
-[05/10 15:50:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 93.781[deg]
-[05/10 15:50:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:52:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:53:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:53:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
-[05/10 15:53:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:53:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:53:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:53:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 10.80s (batch: 3.36s, save: 7.44s)
-[05/10 15:53:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=170.51s, total=170.51s, count=1, min=170506.0ms, max=170506.0ms
-  sensor_polling: mean=419.1ms, total=125.74s, count=300, min=369.4ms, max=733.2ms
-  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7440.8ms, max=7440.8ms
-  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.1ms, max=49.8ms
-  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.1ms, max=3361.1ms
-  task_sampling: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
-  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:53:20 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:53:20 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:53:20 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
-[05/10 15:53:20 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5745.65s
-  House averages:
-  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
-  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
-  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
-  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
-  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
-  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:53:20 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:53:20 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5745.65s
-  Worker averages:
-  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
-  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
-  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
-  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
-  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
-  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
-  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
-  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
-  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
-  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
-  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
-  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
-  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:53:23 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:53:23 INFO pipeline.py:1491] Success count: 14, Total count: 14
-[05/10 15:53:23 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
-==========================================
diff --git a/fridge_7/chunk_002/shard_3_of_4.log b/fridge_7/chunk_002/shard_3_of_4.log
deleted file mode 100644
index 3c02b9854867f63193c9f6a436c6a1897be18805..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/shard_3_of_4.log
+++ /dev/null
@@ -1,1793 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
-  shard=3/4  seed=20203  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7e451c2c8250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20203,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 138835287297488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138835287297488 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 138835287297488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138835287297488 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 138835292208144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138835292208144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138835292194256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138835292194256 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138835292194256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138835292194256 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138835292208144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138835292208144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138835287342928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138835287342928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138835287331728 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138835287331728 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 138835287331728 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138835287331728 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138835287342928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138835287342928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:00:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5746fc761460 at 0x7e451c82c690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5746fc78f000 at 0x7e451c575c10>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5746fc78f000 at 0x7e451c7b7190>
-[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036580m
-[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89884597  0.91028408  0.03658038] yaw=-141.5deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15053653  1.00781717  0.03658038] yaw=-125.3deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00025005  0.97762813  0.03658038] yaw=-143.7deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=18.0ms, retries=195.5ms, total=213.5ms
-[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.910, 0.037)
-[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.706s
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
-[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 85.895[deg]
-[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:02:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:02:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:03:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:03:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:03:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:03:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:04:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:04:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:04:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.71s, save: 7.59s)
-[05/10 15:04:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.26s:
-  episode_total: mean=192.06s, total=192.06s, count=1, min=192057.3ms, max=192057.3ms
-  sensor_polling: mean=417.1ms, total=125.13s, count=300, min=396.1ms, max=667.9ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.2ms, max=7589.2ms
-  physics_step: mean=18.6ms, total=5.59s, count=300, min=14.1ms, max=28.0ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3709.9ms, max=3709.9ms
-  task_sampling: mean=3.26s, total=3.26s, count=1, min=3255.3ms, max=3255.3ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  task_specific_sample: mean=550.3ms, total=550.3ms, count=1, min=550.3ms, max=550.3ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=46.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 15:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082377m
-[05/10 15:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96994627  0.73308291  0.08237687] yaw=-158.5deg
-[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89392284  0.18969515  0.08237687] yaw=158.9deg
-[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91710894  0.65932631  0.08237687] yaw=-165.4deg
-[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms
-[05/10 15:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.733, 0.082)
-[05/10 15:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
-[05/10 15:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:04:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:04:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
-[05/10 15:04:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:04:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:04:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True
-[05/10 15:04:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 103.583[deg]
-[05/10 15:04:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:04:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:04:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:04:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:06:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:06:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:06:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:06:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:06:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.34s (batch: 3.84s, save: 7.50s)
-[05/10 15:06:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
-  episode_total: mean=170.28s, total=170.28s, count=1, min=170279.5ms, max=170279.5ms
-  sensor_polling: mean=433.3ms, total=130.00s, count=300, min=396.0ms, max=689.4ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7496.9ms, max=7496.9ms
-  physics_step: mean=19.1ms, total=5.72s, count=300, min=14.1ms, max=28.8ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.3ms, max=3843.3ms
-  task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms
-  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=401.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:07:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:07:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 15:07:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:07:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:07:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032421m
-[05/10 15:07:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:07:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:07:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84023761  0.2740782   0.03242079] yaw=171.6deg
-[05/10 15:07:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:07:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:07:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms
-[05/10 15:07:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.274, 0.032)
-[05/10 15:07:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
-[05/10 15:07:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.887m
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:07:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 15:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 15:07:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:07:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:07:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:07:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True
-[05/10 15:07:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.417[m] 82.088[deg]
-[05/10 15:07:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:09:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:09:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:09:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps
-[05/10 15:09:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True
-[05/10 15:09:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.023[deg]
-[05/10 15:09:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:10:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:10:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:10:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:10:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:10:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:10:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 15.41s (batch: 4.16s, save: 11.25s)
-[05/10 15:10:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=198.28s, total=198.28s, count=1, min=198279.6ms, max=198279.6ms
-  sensor_polling: mean=450.3ms, total=135.10s, count=300, min=399.2ms, max=680.4ms
-  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11247.3ms, max=11247.3ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.0ms, max=71.3ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.3ms, max=4158.3ms
-  task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
-  task_specific_sample: mean=444.2ms, total=444.2ms, count=1, min=444.2ms, max=444.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:10:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:10:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:10:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 15:10:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:10:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:10:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077367m
-[05/10 15:10:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:10:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:10:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99368348  0.15498562  0.07736748] yaw=145.1deg
-[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05468775  0.90873179  0.07736748] yaw=-144.0deg
-[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88689625  0.48472662  0.07736748] yaw=-188.5deg
-[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:10:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:10:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms
-[05/10 15:10:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, 0.077)
-[05/10 15:10:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg
-[05/10 15:10:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:10:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 15:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 15:10:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:10:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:10:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:10:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True
-[05/10 15:10:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.346[m] 88.499[deg]
-[05/10 15:10:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:11:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:11:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:11:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:11:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:11:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/10 15:11:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.401s, found feasible grasp: True
-[05/10 15:11:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]
-[05/10 15:11:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:11:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:11:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:11:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/10 15:11:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:11:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:11:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088089m
-[05/10 15:11:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:11:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:11:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06009079  1.12935863  0.08808877] yaw=-146.1deg
-[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7225686   0.92062734  0.08808877] yaw=-154.4deg
-[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93997913  0.7646681   0.08808877] yaw=-152.2deg
-[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:11:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:11:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.5ms, total=115.6ms
-[05/10 15:11:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.129, 0.088)
-[05/10 15:11:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
-[05/10 15:11:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:11:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:11:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:11:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 15:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 15:11:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:11:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:11:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:11:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.418s, found feasible grasp: True
-[05/10 15:11:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.549[m] 102.853[deg]
-[05/10 15:11:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:13:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 15:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:13:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:13:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:13:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 70 non-colliding grasps
-[05/10 15:13:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 0.389s, found feasible grasp: True
-[05/10 15:13:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.720[deg]
-[05/10 15:13:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:14:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:14:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:14:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:14:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:14:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:14:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:14:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.56s (batch: 4.59s, save: 8.97s)
-[05/10 15:14:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.69s:
-  episode_total: mean=138.17s, total=276.35s, count=2, min=93130.9ms, max=183217.0ms
-  sensor_polling: mean=446.6ms, total=208.57s, count=467, min=376.0ms, max=746.5ms
-  physics_step: mean=20.5ms, total=9.58s, count=467, min=14.3ms, max=43.3ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8971.2ms, max=8971.2ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.4ms, max=4589.4ms
-  task_sampling: mean=344.1ms, total=688.2ms, count=2, min=325.0ms, max=363.3ms
-  task_specific_sample: mean=340.8ms, total=681.7ms, count=2, min=321.8ms, max=359.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
-  mj_forward_sync: mean=463.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:14:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:14:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:14:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 15:14:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:14:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:14:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078336m
-[05/10 15:14:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:14:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:14:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79972811  0.34612724  0.07833636] yaw=160.9deg
-[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8327704   0.39363258  0.07833636] yaw=185.6deg
-[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63431872  0.24141957  0.07833636] yaw=169.9deg
-[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:14:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:14:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms
-[05/10 15:14:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.346, 0.078)
-[05/10 15:14:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg
-[05/10 15:14:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:14:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:14:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True
-[05/10 15:15:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.426[m] 77.445[deg]
-[05/10 15:15:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:17:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:17:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:17:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
-[05/10 15:17:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.328s, found feasible grasp: True
-[05/10 15:17:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.702[deg]
-[05/10 15:17:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:17:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:18:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:18:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:18:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:18:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:18:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:18:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.25s (batch: 4.13s, save: 8.12s)
-[05/10 15:18:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.44s:
-  episode_total: mean=193.87s, total=193.87s, count=1, min=193871.7ms, max=193871.7ms
-  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=395.0ms, max=920.8ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.6ms, max=8118.6ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=12.8ms, max=59.7ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.9ms, max=4130.9ms
-  task_sampling: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
-  task_specific_sample: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=521.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:18:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:18:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:18:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:18:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:18:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:18:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:18:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 15:18:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:18:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:18:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009979m
-[05/10 15:18:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:18:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:18:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79228681  0.21618343  0.00997862] yaw=154.4deg
-[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03597425  1.25858475  0.00997862] yaw=-120.3deg
-[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95127869  0.23257404  0.00997862] yaw=151.1deg
-[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:18:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:18:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms
-[05/10 15:18:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.216, 0.010)
-[05/10 15:18:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg
-[05/10 15:18:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.948m
-[05/10 15:18:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:18:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:18:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:18:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:18:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:18:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 15:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 15:18:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:18:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:18:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 15:18:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
-[05/10 15:18:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 97.926[deg]
-[05/10 15:18:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:20:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:20:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:20:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:20:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
-[05/10 15:20:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True
-[05/10 15:20:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.577[deg]
-[05/10 15:20:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:20:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:20:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 15:20:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:20:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:20:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000768m
-[05/10 15:20:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:20:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:20:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-8.42590720e-01  5.47987871e-01  7.67912350e-04] yaw=-165.1deg
-[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.60610463e-01  3.90614416e-02  7.67912350e-04] yaw=161.4deg
-[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83335701e-01  7.20817110e-01  7.67912350e-04] yaw=-155.7deg
-[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:20:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:20:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.2ms, total=102.2ms
-[05/10 15:20:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.548, 0.001)
-[05/10 15:20:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg
-[05/10 15:20:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.862m
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:20:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 15:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 15:20:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:20:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:20:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:20:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True
-[05/10 15:20:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 89.275[deg]
-[05/10 15:20:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:23:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:23:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:23:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:23:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:23:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:23:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.25s (batch: 3.88s, save: 7.37s)
-[05/10 15:23:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.76s:
-  episode_total: mean=164.69s, total=329.38s, count=2, min=146969.5ms, max=182406.4ms
-  sensor_polling: mean=459.5ms, total=263.77s, count=574, min=393.1ms, max=1043.3ms
-  physics_step: mean=21.8ms, total=12.52s, count=574, min=13.6ms, max=84.2ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7369.2ms, max=7369.2ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.7ms, max=3880.7ms
-  task_sampling: mean=381.8ms, total=763.5ms, count=2, min=325.9ms, max=437.6ms
-  task_specific_sample: mean=378.7ms, total=757.4ms, count=2, min=323.3ms, max=434.1ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=390.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:23:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:23:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 15:23:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:23:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:23:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098986m
-[05/10 15:23:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:23:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:23:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:23:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6622719   0.54948757  0.09898566] yaw=-174.9deg
-[05/10 15:23:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:23:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.1245444   0.99484609  0.09898566] yaw=-128.0deg
-[05/10 15:23:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:23:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:23:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms
-[05/10 15:23:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.549, 0.099)
-[05/10 15:23:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg
-[05/10 15:23:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:23:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:23:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 15:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 15:23:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:23:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:23:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:23:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True
-[05/10 15:23:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.577[m] 86.633[deg]
-[05/10 15:23:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:24:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:26:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:26:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:26:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:26:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:26:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:26:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:26:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.73s (batch: 4.23s, save: 8.50s)
-[05/10 15:26:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.72s, total=181.72s, count=1, min=181716.5ms, max=181716.5ms
-  sensor_polling: mean=460.6ms, total=138.19s, count=300, min=398.1ms, max=750.0ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8499.9ms, max=8499.9ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.7ms, max=80.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.0ms, max=4226.0ms
-  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
-  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:26:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:26:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:26:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 15:26:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:26:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:26:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030032m
-[05/10 15:26:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:26:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:26:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75309637  0.56371119  0.03003248] yaw=-168.7deg
-[05/10 15:26:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:26:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60535339  0.40077535  0.03003248] yaw=181.7deg
-[05/10 15:26:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:26:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:26:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
-[05/10 15:26:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.564, 0.030)
-[05/10 15:26:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
-[05/10 15:26:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:26:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:26:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:26:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 15:26:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 15:26:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:26:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:26:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:26:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
-[05/10 15:26:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.549[m] 100.082[deg]
-[05/10 15:26:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:29:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:29:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:29:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:29:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:29:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:29:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:29:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.76s, save: 7.53s)
-[05/10 15:29:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
-  episode_total: mean=180.57s, total=180.57s, count=1, min=180572.0ms, max=180572.0ms
-  sensor_polling: mean=447.2ms, total=134.15s, count=300, min=398.8ms, max=942.0ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7530.3ms, max=7530.3ms
-  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.9ms, max=46.5ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3764.8ms, max=3764.8ms
-  task_sampling: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms
-  task_specific_sample: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=378.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:29:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:29:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:29:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:29:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:29:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:29:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:29:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 15:29:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:29:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:29:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040827m
-[05/10 15:29:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:29:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:29:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:29:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73009051  0.51927774  0.04082663] yaw=-179.7deg
-[05/10 15:29:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:29:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95023459  0.09503562  0.04082663] yaw=155.9deg
-[05/10 15:29:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:29:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:29:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.1ms, total=263.1ms
-[05/10 15:29:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.519, 0.041)
-[05/10 15:29:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg
-[05/10 15:29:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.973m
-[05/10 15:29:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:29:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:29:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:29:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:29:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 15:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
-[05/10 15:29:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:29:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:29:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps
-[05/10 15:29:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True
-[05/10 15:29:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.503[m] 84.840[deg]
-[05/10 15:29:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:30:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:32:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:32:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:32:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:32:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:32:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:32:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:32:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.56s (batch: 4.07s, save: 8.49s)
-[05/10 15:32:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
-  episode_total: mean=185.19s, total=185.19s, count=1, min=185188.1ms, max=185188.1ms
-  sensor_polling: mean=450.1ms, total=135.04s, count=300, min=386.6ms, max=874.8ms
-  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8486.0ms, max=8486.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.6ms, max=49.7ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.7ms, max=4074.7ms
-  task_sampling: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  task_specific_sample: mean=533.2ms, total=533.2ms, count=1, min=533.2ms, max=533.2ms
-  scene_randomize: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
-  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:32:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:32:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:32:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:32:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:32:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:32:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:32:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 15:32:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:32:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:32:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029731m
-[05/10 15:32:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:32:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:32:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:32:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99189094  0.98107377  0.02973056] yaw=-139.4deg
-[05/10 15:32:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:32:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83088361  0.81899544  0.02973056] yaw=-161.4deg
-[05/10 15:33:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:33:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81495241  0.73327885  0.02973056] yaw=-160.9deg
-[05/10 15:33:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:33:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:33:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.2ms
-[05/10 15:33:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.981, 0.030)
-[05/10 15:33:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg
-[05/10 15:33:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
-[05/10 15:33:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:33:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 15:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
-[05/10 15:33:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:33:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:33:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 15:33:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True
-[05/10 15:33:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 83.432[deg]
-[05/10 15:33:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:33:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:35:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:35:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:35:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:35:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:36:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:36:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:36:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.29s (batch: 3.85s, save: 8.44s)
-[05/10 15:36:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=182.21s, total=182.21s, count=1, min=182210.7ms, max=182210.7ms
-  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=382.0ms, max=714.9ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8445.0ms, max=8445.0ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.3ms, max=70.2ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3846.5ms, max=3846.5ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=442.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:36:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:36:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 15:36:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:36:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:36:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005044m
-[05/10 15:36:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:36:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:36:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0160821   0.17638014  0.00504385] yaw=164.1deg
-[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92368884  0.23725385  0.00504385] yaw=172.3deg
-[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97173999  1.05392324  0.00504385] yaw=-145.1deg
-[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:36:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:36:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms
-[05/10 15:36:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.176, 0.005)
-[05/10 15:36:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg
-[05/10 15:36:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:36:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 15:36:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
-[05/10 15:36:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:36:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:36:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 15:36:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True
-[05/10 15:36:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.316[m] 90.603[deg]
-[05/10 15:36:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:36:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:36:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:37:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:37:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:37:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps
-[05/10 15:37:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.735s, found feasible grasp: True
-[05/10 15:37:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.201[deg]
-[05/10 15:37:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:37:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:37:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:37:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 15:37:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:37:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:37:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051988m
-[05/10 15:37:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:37:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:37:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:37:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81219451  0.52414522  0.05198831] yaw=-172.3deg
-[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00585799  1.01729826  0.05198831] yaw=-140.1deg
-[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90560748  0.36133104  0.05198831] yaw=168.3deg
-[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:37:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:37:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms
-[05/10 15:37:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.524, 0.052)
-[05/10 15:37:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg
-[05/10 15:37:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:37:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:37:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 15:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 15:37:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:37:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:37:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 15:37:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.244s, found feasible grasp: True
-[05/10 15:37:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 84.801[deg]
-[05/10 15:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:40:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:40:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:40:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:40:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:40:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:40:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:40:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.61s (batch: 3.39s, save: 8.22s)
-[05/10 15:40:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.91s:
-  episode_total: mean=135.71s, total=271.43s, count=2, min=87083.9ms, max=184342.2ms
-  sensor_polling: mean=455.2ms, total=205.74s, count=452, min=401.0ms, max=766.3ms
-  physics_step: mean=20.6ms, total=9.33s, count=452, min=16.5ms, max=52.9ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.1ms, max=8219.1ms
-  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3388.5ms, max=3388.5ms
-  task_sampling: mean=457.2ms, total=914.4ms, count=2, min=418.3ms, max=496.1ms
-  task_specific_sample: mean=453.7ms, total=907.3ms, count=2, min=414.5ms, max=492.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=473.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:40:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:40:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:40:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 15:40:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:40:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:40:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069968m
-[05/10 15:40:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:40:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:40:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:40:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81495727  0.47277644  0.06996811] yaw=173.1deg
-[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:40:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73641938  0.82210858  0.06996811] yaw=-158.6deg
-[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89837554  0.28436421  0.06996811] yaw=170.3deg
-[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:40:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:40:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=244.0ms
-[05/10 15:40:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.473, 0.070)
-[05/10 15:40:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg
-[05/10 15:40:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.887m
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:40:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:40:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:40:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 15:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
-[05/10 15:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:40:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps
-[05/10 15:40:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.168s, found feasible grasp: True
-[05/10 15:40:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.271[deg]
-[05/10 15:40:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:43:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:43:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:43:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:43:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:43:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:43:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:43:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.50s (batch: 3.60s, save: 7.91s)
-[05/10 15:43:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.67s:
-  episode_total: mean=191.32s, total=191.32s, count=1, min=191315.7ms, max=191315.7ms
-  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=403.6ms, max=891.2ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.0ms, max=7906.0ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.7ms, max=76.1ms
-  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.4ms, max=3596.4ms
-  task_sampling: mean=666.9ms, total=666.9ms, count=1, min=666.9ms, max=666.9ms
-  task_specific_sample: mean=662.9ms, total=662.9ms, count=1, min=662.9ms, max=662.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=496.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:43:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:43:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:43:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 15:43:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:43:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:43:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036824m
-[05/10 15:43:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:43:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:43:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:43:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85187948  0.16475516  0.03682397] yaw=161.0deg
-[05/10 15:43:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:43:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:43:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.9ms, total=352.0ms
-[05/10 15:43:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.165, 0.037)
-[05/10 15:43:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg
-[05/10 15:43:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.908m
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:43:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:43:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:43:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 15:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
-[05/10 15:43:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:43:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:43:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps
-[05/10 15:43:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True
-[05/10 15:43:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.468[m] 90.341[deg]
-[05/10 15:43:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:45:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:45:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:45:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:45:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:45:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:45:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 15:45:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.409s, found feasible grasp: True
-[05/10 15:45:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.474[deg]
-[05/10 15:45:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:46:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:46:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:46:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:46:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:47:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:47:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:47:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.87s (batch: 4.14s, save: 7.74s)
-[05/10 15:47:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.62s:
-  episode_total: mean=194.95s, total=194.95s, count=1, min=194949.9ms, max=194949.9ms
-  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=375.1ms, max=684.4ms
-  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7738.1ms, max=7738.1ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=11.9ms, max=71.4ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.5ms, max=4136.5ms
-  task_sampling: mean=621.8ms, total=621.8ms, count=1, min=621.8ms, max=621.8ms
-  task_specific_sample: mean=617.9ms, total=617.9ms, count=1, min=617.9ms, max=617.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:47:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:47:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:47:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 15:47:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:47:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:47:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090941m
-[05/10 15:47:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:47:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:47:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79627506  0.37926547  0.09094105] yaw=174.7deg
-[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93812119  1.03832252  0.09094105] yaw=-140.6deg
-[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73889321  0.33137802  0.09094105] yaw=180.4deg
-[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms
-[05/10 15:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.379, 0.091)
-[05/10 15:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg
-[05/10 15:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:47:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:47:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 15:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 15:47:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:47:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:47:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 15:47:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True
-[05/10 15:47:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 95.930[deg]
-[05/10 15:47:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:47:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:47:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:47:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:48:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:49:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:50:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:50:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
-[05/10 15:50:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:50:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:50:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:50:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.04s (batch: 3.73s, save: 9.31s)
-[05/10 15:50:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=196.13s, total=196.13s, count=1, min=196133.8ms, max=196133.8ms
-  sensor_polling: mean=430.7ms, total=129.20s, count=300, min=375.7ms, max=757.8ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9314.5ms, max=9314.5ms
-  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.3ms, max=35.5ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.2ms, max=3728.2ms
-  task_sampling: mean=469.3ms, total=469.3ms, count=1, min=469.3ms, max=469.3ms
-  task_specific_sample: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=604.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:50:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:50:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:50:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 15:50:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:50:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:50:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062614m
-[05/10 15:50:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:50:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:50:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93304815  0.53133252  0.06261408] yaw=-177.5deg
-[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94156803  1.02894797  0.06261408] yaw=-155.5deg
-[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81124458  0.68511936  0.06261408] yaw=-174.6deg
-[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:50:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:50:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms
-[05/10 15:50:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.531, 0.063)
-[05/10 15:50:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg
-[05/10 15:50:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:50:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:50:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 15:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 15:50:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:50:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:50:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 15:50:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True
-[05/10 15:50:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.279[m] 81.906[deg]
-[05/10 15:50:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:51:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:51:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:51:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:51:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:51:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:51:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:52:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:52:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:52:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 15:52:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.405s, found feasible grasp: True
-[05/10 15:52:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.758[deg]
-[05/10 15:52:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:52:04 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:52:04 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:52:04 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
-[05/10 15:52:04 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5573.03s
-  House averages:
-  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
-  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
-  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
-  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
-  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
-  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
-  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:52:04 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:52:04 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5573.03s
-  Worker averages:
-  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
-  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
-  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
-  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
-  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
-  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
-  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
-  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
-  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
-  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
-  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
-  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
-  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
-  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
-  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
-  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:52:06 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:52:06 INFO pipeline.py:1491] Success count: 14, Total count: 14
-[05/10 15:52:06 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
-==========================================
diff --git a/fridge_7/chunk_002/shard_4_of_4.log b/fridge_7/chunk_002/shard_4_of_4.log
deleted file mode 100644
index abccddc1cb123067efb29aeb19427a926d17c611..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/shard_4_of_4.log
+++ /dev/null
@@ -1,1756 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
-  shard=4/4  seed=20204  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x6ffc04edab90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20204,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 123128200098320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123128200098320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 123128200098320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123128200098320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 123128203345424 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123128203345424 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123128203336400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123128203336400 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123128203336400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123128203336400 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123128203345424 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123128203345424 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123128200184528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123128200184528 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123128200185040 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123128200185040 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 123128200185040 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123128200185040 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123128200184528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123128200184528 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:00:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 615bbf08aea0 at 0x6ffc0529de10>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615bbf0b8a40 at 0x6ffc052b1150>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615bbf0b8a40 at 0x6ffc0522f910>
-[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053209m
-[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08544823  1.25047879  0.05320852] yaw=-135.9deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88498926  0.94101857  0.05320852] yaw=-140.7deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=11.7ms, retries=287.4ms, total=299.2ms
-[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.250, 0.053)
-[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
-[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.985m
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:00:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:00:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:01:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.521s
-[05/10 15:01:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:01:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:01:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True
-[05/10 15:01:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 99.326[deg]
-[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:03:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:03:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:03:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:03:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/10 15:03:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.462s, found feasible grasp: True
-[05/10 15:03:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.612[deg]
-[05/10 15:03:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:03:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:03:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:03:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:03:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 15:03:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:03:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:03:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
-[05/10 15:03:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.318s, found feasible grasp: True
-[05/10 15:03:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.774[deg]
-[05/10 15:03:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:03:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
-[05/10 15:03:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=3.33s:
-  episode_total: mean=180.92s, total=180.92s, count=1, min=180917.1ms, max=180917.1ms
-  sensor_polling: mean=419.5ms, total=125.86s, count=300, min=389.3ms, max=544.1ms
-  physics_step: mean=18.2ms, total=5.46s, count=300, min=15.0ms, max=30.7ms
-  task_sampling: mean=3.33s, total=3.33s, count=1, min=3329.4ms, max=3329.4ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  task_specific_sample: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:03:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:03:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:03:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 15:03:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:03:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:03:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085045m
-[05/10 15:03:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:03:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:03:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74069557  0.41509991  0.08504468] yaw=185.7deg
-[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:03:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0465061   1.04210827  0.08504468] yaw=-146.7deg
-[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93691723  0.93716346  0.08504468] yaw=-144.4deg
-[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:03:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:03:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms
-[05/10 15:03:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.415, 0.085)
-[05/10 15:03:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg
-[05/10 15:03:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:03:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 15:03:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:03:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:03:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 15:03:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True
-[05/10 15:03:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.503[m] 83.962[deg]
-[05/10 15:03:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:04:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:04:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:06:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
-[05/10 15:06:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.457s, found feasible grasp: True
-[05/10 15:06:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.104[deg]
-[05/10 15:06:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:06:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:06:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:06:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:06:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:06:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:07:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:07:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:07:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.41s (batch: 3.98s, save: 7.43s)
-[05/10 15:07:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.31s:
-  episode_total: mean=184.32s, total=184.32s, count=1, min=184319.6ms, max=184319.6ms
-  sensor_polling: mean=428.4ms, total=128.51s, count=300, min=378.5ms, max=633.3ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.7ms, max=7429.7ms
-  physics_step: mean=18.2ms, total=5.47s, count=300, min=12.3ms, max=28.9ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.5ms, max=3980.5ms
-  task_sampling: mean=310.2ms, total=310.2ms, count=1, min=310.2ms, max=310.2ms
-  task_specific_sample: mean=307.8ms, total=307.8ms, count=1, min=307.8ms, max=307.8ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:07:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:07:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 15:07:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:07:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:07:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000002m
-[05/10 15:07:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:07:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:07:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07902449e-01  7.88697449e-01  2.41280722e-06] yaw=-169.0deg
-[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.96010881e-01  1.10399013e+00  2.41280722e-06] yaw=-141.1deg
-[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-6.59977840e-01  7.48446373e-01  2.41280722e-06] yaw=-165.3deg
-[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:07:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:07:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.2ms, total=180.3ms
-[05/10 15:07:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.789, 0.000)
-[05/10 15:07:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
-[05/10 15:07:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:07:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 15:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 15:07:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:07:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:07:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:07:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True
-[05/10 15:07:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 86.671[deg]
-[05/10 15:07:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:09:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:09:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:09:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:09:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:10:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:10:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:10:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.57s (batch: 3.71s, save: 7.86s)
-[05/10 15:10:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
-  episode_total: mean=180.59s, total=180.59s, count=1, min=180593.2ms, max=180593.2ms
-  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=375.9ms, max=678.7ms
-  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7864.7ms, max=7864.7ms
-  physics_step: mean=20.1ms, total=6.03s, count=300, min=15.2ms, max=56.6ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.4ms, max=3707.4ms
-  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
-  task_specific_sample: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:10:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:10:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:10:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/10 15:10:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:10:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:10:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095425m
-[05/10 15:10:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:10:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:10:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65203013  0.34418261  0.09542541] yaw=175.2deg
-[05/10 15:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:10:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:10:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms
-[05/10 15:10:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.344, 0.095)
-[05/10 15:10:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
-[05/10 15:10:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:10:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:10:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 15:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
-[05/10 15:10:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:10:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:10:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 15:10:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True
-[05/10 15:10:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.577[m] 82.406[deg]
-[05/10 15:10:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:12:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:12:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:12:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:12:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:12:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:12:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:12:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
-[05/10 15:12:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True
-[05/10 15:12:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.103[deg]
-[05/10 15:12:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:12:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:12:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:12:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:13:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:13:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:13:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:13:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:13:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:13:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.34s (batch: 3.85s, save: 10.49s)
-[05/10 15:13:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
-  episode_total: mean=194.07s, total=194.07s, count=1, min=194067.9ms, max=194067.9ms
-  sensor_polling: mean=451.6ms, total=135.49s, count=300, min=368.4ms, max=743.9ms
-  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10490.4ms, max=10490.4ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.9ms, max=65.0ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
-  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
-  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=416.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:13:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:13:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:13:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
-[05/10 15:13:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:13:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:13:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099813m
-[05/10 15:13:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:13:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:13:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93795384  0.66294678  0.09981321] yaw=-160.1deg
-[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:13:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08619709  0.9339351   0.09981321] yaw=-149.5deg
-[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:13:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79921174  0.38002563  0.09981321] yaw=178.0deg
-[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:13:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:13:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.1ms, total=330.1ms
-[05/10 15:13:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.663, 0.100)
-[05/10 15:13:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg
-[05/10 15:13:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:13:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 15:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
-[05/10 15:13:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:13:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:13:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 15:13:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.341s, found feasible grasp: True
-[05/10 15:13:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.328[m] 79.033[deg]
-[05/10 15:13:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:13:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:15:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps
-[05/10 15:16:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:16:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:16:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.67s, save: 7.45s)
-[05/10 15:16:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s:
-  episode_total: mean=174.60s, total=174.60s, count=1, min=174598.6ms, max=174598.6ms
-  sensor_polling: mean=441.7ms, total=126.32s, count=286, min=375.6ms, max=837.0ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.4ms, max=7449.4ms
-  physics_step: mean=19.9ms, total=5.68s, count=286, min=13.2ms, max=59.4ms
-  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3671.7ms, max=3671.7ms
-  task_sampling: mean=623.3ms, total=623.3ms, count=1, min=623.3ms, max=623.3ms
-  task_specific_sample: mean=618.8ms, total=618.8ms, count=1, min=618.8ms, max=618.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=550.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:16:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:16:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:16:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 15:16:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:16:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:16:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050739m
-[05/10 15:16:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:16:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:16:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06476794  1.09574171  0.05073862] yaw=-146.3deg
-[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82688415  0.39980859  0.05073862] yaw=184.2deg
-[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08058758  1.12339745  0.05073862] yaw=-126.6deg
-[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:16:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:16:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.2ms
-[05/10 15:16:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.096, 0.051)
-[05/10 15:16:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg
-[05/10 15:16:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.885m
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:16:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:16:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:16:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 15:16:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 15:16:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:16:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:16:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 15:16:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.702s, found feasible grasp: True
-[05/10 15:16:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.474[m] 83.276[deg]
-[05/10 15:16:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 15:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008644m
-[05/10 15:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13326756  1.14191362  0.0086438 ] yaw=-131.9deg
-[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94126145  0.99284866  0.0086438 ] yaw=-144.8deg
-[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73476093  0.1094199   0.0086438 ] yaw=162.9deg
-[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms
-[05/10 15:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.142, 0.009)
-[05/10 15:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
-[05/10 15:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 15:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.148s
-[05/10 15:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 15:16:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
-[05/10 15:16:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.482[m] 92.991[deg]
-[05/10 15:16:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:17:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:18:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:18:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:18:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
-[05/10 15:18:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.246s, found feasible grasp: True
-[05/10 15:18:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.102[m] 0.723[deg]
-[05/10 15:18:37 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:18:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:18:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:18:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 15:18:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:18:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:18:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052371m
-[05/10 15:18:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:18:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:18:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96662751  0.87196964  0.05237131] yaw=-153.5deg
-[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69501703  0.61102335  0.05237131] yaw=-163.2deg
-[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8347338   0.34234054  0.05237131] yaw=162.7deg
-[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:18:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:18:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms
-[05/10 15:18:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.872, 0.052)
-[05/10 15:18:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg
-[05/10 15:18:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:18:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:18:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:18:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 15:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/10 15:18:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:18:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:18:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 15:18:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/10 15:18:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.416[m] 93.587[deg]
-[05/10 15:18:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:18:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:18:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:21:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:21:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:21:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:21:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:21:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:21:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:21:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.83s (batch: 4.05s, save: 8.79s)
-[05/10 15:21:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.53s:
-  episode_total: mean=106.35s, total=319.06s, count=3, min=3343.2ms, max=180722.9ms
-  sensor_polling: mean=442.5ms, total=242.47s, count=548, min=385.7ms, max=748.5ms
-  physics_step: mean=19.7ms, total=10.82s, count=548, min=16.2ms, max=54.0ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8786.6ms, max=8786.6ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
-  task_sampling: mean=511.3ms, total=1.53s, count=3, min=445.9ms, max=633.0ms
-  task_specific_sample: mean=508.1ms, total=1.52s, count=3, min=442.3ms, max=629.9ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=423.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=28.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 15:21:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:21:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:21:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:21:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:21:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:21:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:21:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 15:21:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:21:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:21:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071254m
-[05/10 15:21:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:21:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:21:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:21:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83921142  0.63069891  0.07125417] yaw=-168.0deg
-[05/10 15:21:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:21:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81235381  0.95340447  0.07125417] yaw=-150.6deg
-[05/10 15:21:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:21:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:21:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.7ms, total=420.7ms
-[05/10 15:21:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.631, 0.071)
-[05/10 15:21:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg
-[05/10 15:21:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
-[05/10 15:21:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:21:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:21:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:21:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:21:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:21:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 15:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s
-[05/10 15:21:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:21:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:21:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 15:21:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True
-[05/10 15:21:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 82.867[deg]
-[05/10 15:21:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:22:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:24:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:24:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:24:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:24:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:24:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:24:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:24:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.68s (batch: 4.00s, save: 7.68s)
-[05/10 15:24:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.68s:
-  episode_total: mean=182.66s, total=182.66s, count=1, min=182661.1ms, max=182661.1ms
-  sensor_polling: mean=455.8ms, total=136.74s, count=300, min=387.1ms, max=950.9ms
-  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7679.6ms, max=7679.6ms
-  physics_step: mean=20.2ms, total=6.05s, count=300, min=16.3ms, max=37.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.7ms, max=3997.7ms
-  task_sampling: mean=680.5ms, total=680.5ms, count=1, min=680.5ms, max=680.5ms
-  task_specific_sample: mean=675.9ms, total=675.9ms, count=1, min=675.9ms, max=675.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=525.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:24:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:24:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:24:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:24:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:24:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:24:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:24:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 15:24:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:24:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:24:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073596m
-[05/10 15:24:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:24:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:24:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:24:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08831835  1.03317619  0.07359559] yaw=-145.6deg
-[05/10 15:24:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01472324  1.26988384  0.07359559] yaw=-132.7deg
-[05/10 15:24:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06882473  1.05541412  0.07359559] yaw=-132.8deg
-[05/10 15:24:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:24:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:24:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.9ms, total=71.9ms
-[05/10 15:24:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.088, 1.033, 0.074)
-[05/10 15:24:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
-[05/10 15:24:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
-[05/10 15:24:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:24:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:24:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:24:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:24:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:24:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 15:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 15:24:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:24:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:24:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:24:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True
-[05/10 15:24:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.625[deg]
-[05/10 15:24:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:25:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:25:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:27:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:27:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:27:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:27:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:27:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:27:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/10 15:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.370s, found feasible grasp: True
-[05/10 15:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]
-[05/10 15:27:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:27:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:27:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:27:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 15:27:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:27:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:27:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087005m
-[05/10 15:27:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:27:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:27:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:27:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69422756  0.62982091  0.08700527] yaw=-167.6deg
-[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65857643  0.28595789  0.08700527] yaw=180.4deg
-[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85502324  0.3042946   0.08700527] yaw=164.2deg
-[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:27:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:27:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms
-[05/10 15:27:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.630, 0.087)
-[05/10 15:27:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg
-[05/10 15:27:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.019m
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:27:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:27:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:27:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 15:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/10 15:27:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:27:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:27:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:27:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True
-[05/10 15:27:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 90.307[deg]
-[05/10 15:27:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:29:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:30:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:30:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:30:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:30:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:30:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:30:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.13s (batch: 4.07s, save: 7.05s)
-[05/10 15:30:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
-  episode_total: mean=164.38s, total=328.77s, count=2, min=146613.8ms, max=182153.7ms
-  sensor_polling: mean=458.3ms, total=262.61s, count=573, min=376.8ms, max=940.3ms
-  physics_step: mean=20.8ms, total=11.92s, count=573, min=13.1ms, max=81.6ms
-  save_trajectories: mean=7.05s, total=7.05s, count=1, min=7053.4ms, max=7053.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.5ms, max=4073.5ms
-  task_sampling: mean=362.5ms, total=725.0ms, count=2, min=358.9ms, max=366.1ms
-  task_specific_sample: mean=359.3ms, total=718.6ms, count=2, min=356.1ms, max=362.5ms
-  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=377.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 15:30:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:30:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 15:30:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:30:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:30:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030632m
-[05/10 15:30:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:30:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:30:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76894735  0.04336054  0.03063199] yaw=163.8deg
-[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98721149  1.09231124  0.03063199] yaw=-147.1deg
-[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72960445  0.71444591  0.03063199] yaw=-167.0deg
-[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:30:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:30:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms
-[05/10 15:30:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.043, 0.031)
-[05/10 15:30:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg
-[05/10 15:30:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:30:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:30:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 15:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 15:30:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:30:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:30:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:30:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.403s, found feasible grasp: True
-[05/10 15:30:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.647[m] 98.487[deg]
-[05/10 15:30:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:31:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:32:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:33:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:33:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:33:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:33:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:33:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:33:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.64s, save: 7.48s)
-[05/10 15:33:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
-  episode_total: mean=182.30s, total=182.30s, count=1, min=182296.7ms, max=182296.7ms
-  sensor_polling: mean=458.0ms, total=137.41s, count=300, min=382.1ms, max=885.6ms
-  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7476.4ms, max=7476.4ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=13.1ms, max=65.4ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3642.8ms, max=3642.8ms
-  task_sampling: mean=361.1ms, total=361.1ms, count=1, min=361.1ms, max=361.1ms
-  task_specific_sample: mean=357.9ms, total=357.9ms, count=1, min=357.9ms, max=357.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=385.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:33:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:33:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 15:33:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:33:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:33:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056292m
-[05/10 15:33:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:33:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:33:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73904673  0.91318457  0.05629218] yaw=-160.4deg
-[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03678903  0.83399649  0.05629218] yaw=-144.6deg
-[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8151208   1.0056714   0.05629218] yaw=-139.9deg
-[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:33:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:33:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms
-[05/10 15:33:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.913, 0.056)
-[05/10 15:33:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg
-[05/10 15:33:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:33:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:33:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:33:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 15:33:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 15:33:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:33:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:33:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 15:33:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.451s, found feasible grasp: True
-[05/10 15:33:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.653[m] 83.862[deg]
-[05/10 15:33:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:34:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:34:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:35:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:36:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:36:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:36:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.36s (batch: 3.64s, save: 7.73s)
-[05/10 15:36:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
-  episode_total: mean=183.25s, total=183.25s, count=1, min=183247.9ms, max=183247.9ms
-  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=372.9ms, max=804.5ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.2ms, max=7727.2ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=64.3ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.0ms, max=3636.0ms
-  task_sampling: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=375.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 15:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013061m
-[05/10 15:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9212015   1.23256921  0.01306125] yaw=-142.2deg
-[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01179847  1.19291771  0.01306125] yaw=-127.9deg
-[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93625057  1.22653123  0.01306125] yaw=-141.1deg
-[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms
-[05/10 15:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.921, 1.233, 0.013)
-[05/10 15:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
-[05/10 15:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 15:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 15:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:36:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.449s, found feasible grasp: False
-[05/10 15:36:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 15:36:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:36:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 15:36:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:36:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:36:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052134m
-[05/10 15:36:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:36:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:36:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:36:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1818259  1.0361999  0.0521337] yaw=-144.5deg
-[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85201351  1.06645679  0.0521337 ] yaw=-151.8deg
-[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91966063  1.03372064  0.0521337 ] yaw=-153.6deg
-[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:36:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:36:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.1ms, total=70.1ms
-[05/10 15:36:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.036, 0.052)
-[05/10 15:36:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg
-[05/10 15:36:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:36:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:36:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:36:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 15:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 15:36:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:36:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:36:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:36:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True
-[05/10 15:36:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.374[m] 94.130[deg]
-[05/10 15:36:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:37:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:38:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:38:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:38:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:38:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:38:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
-[05/10 15:38:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.486s, found feasible grasp: True
-[05/10 15:38:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.296[deg]
-[05/10 15:38:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:38:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:38:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:38:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 15:38:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:38:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:38:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083699m
-[05/10 15:38:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:38:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:38:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04145537  0.89174715  0.08369885] yaw=-158.8deg
-[05/10 15:38:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:38:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77342831  1.02579971  0.08369885] yaw=-156.7deg
-[05/10 15:38:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:38:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:38:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms
-[05/10 15:38:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.892, 0.084)
-[05/10 15:38:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg
-[05/10 15:38:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:38:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:38:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:38:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 15:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
-[05/10 15:38:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:38:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:38:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 15:38:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
-[05/10 15:38:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 88.136[deg]
-[05/10 15:38:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:38:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:38:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:41:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 15:41:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:41:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
-[05/10 15:41:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
-[05/10 15:41:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 15:41:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
-[05/10 15:41:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.70s (batch: 3.61s, save: 11.09s)
-[05/10 15:41:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
-  episode_total: mean=109.60s, total=328.81s, count=3, min=1961.9ms, max=181989.6ms
-  sensor_polling: mean=460.2ms, total=254.51s, count=553, min=387.7ms, max=1021.3ms
-  physics_step: mean=20.6ms, total=11.40s, count=553, min=13.2ms, max=105.2ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.6ms, max=11089.6ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3609.9ms, max=3609.9ms
-  task_sampling: mean=430.1ms, total=1.29s, count=3, min=294.0ms, max=607.6ms
-  task_specific_sample: mean=427.0ms, total=1.28s, count=3, min=291.3ms, max=604.3ms
-  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.0ms
-  mj_forward_sync: mean=378.0us, total=1.1ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 15:42:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:42:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:42:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/10 15:42:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:42:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:42:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050444m
-[05/10 15:42:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:42:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:42:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:42:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96107672  1.13540942  0.05044436] yaw=-130.4deg
-[05/10 15:42:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:42:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:42:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms
-[05/10 15:42:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.135, 0.050)
-[05/10 15:42:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg
-[05/10 15:42:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.988m
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:42:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:42:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:42:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 15:42:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 15:42:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:42:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:42:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 15:42:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True
-[05/10 15:42:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.586[m] 86.837[deg]
-[05/10 15:42:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:42:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:42:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:42:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 15:42:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:42:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:42:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078004m
-[05/10 15:42:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:42:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:42:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77406938  0.25669873  0.0780039 ] yaw=166.7deg
-[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:42:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8397963   0.86307881  0.0780039 ] yaw=-160.6deg
-[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93167417  0.55170753  0.0780039 ] yaw=-182.3deg
-[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:42:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:42:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms
-[05/10 15:42:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.257, 0.078)
-[05/10 15:42:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg
-[05/10 15:42:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:42:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:42:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:42:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 15:42:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 15:42:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:42:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:42:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 15:42:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True
-[05/10 15:42:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.513[m] 95.607[deg]
-[05/10 15:42:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:42:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:42:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:44:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:44:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:44:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:44:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:44:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps
-[05/10 15:44:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.446s, found feasible grasp: True
-[05/10 15:44:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.123[deg]
-[05/10 15:44:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:44:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:44:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
-[05/10 15:44:42 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes
-[05/10 15:44:42 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4781.20s
-  House averages:
-  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
-  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
-  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
-  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
-  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
-  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
-  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:44:42 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 15:44:42 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4781.20s
-  Worker averages:
-  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
-  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
-  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
-  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
-  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
-  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
-  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
-  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
-  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
-  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
-  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
-  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
-  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
-  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 15:44:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 15:44:45 INFO pipeline.py:1491] Success count: 10, Total count: 11
-[05/10 15:44:45 INFO pipeline.py:1492] Success rate: 90.91%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
-==========================================
diff --git a/fridge_7/chunk_002/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_002/trajectories_batch_1_of_4_cam_rand.h5
deleted file mode 100644
index 221e5c45e013983f7d80e1543d568eea474ce993..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/trajectories_batch_1_of_4_cam_rand.h5
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/fridge_7/chunk_002/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_7/chunk_002/trajectories_batch_2_of_4_cam_rand.h5
deleted file mode 100644
index faef9c75e43c5108fc0f4097216337c669fd8cc3..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/trajectories_batch_2_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge_7/chunk_002/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_7/chunk_002/trajectories_batch_3_of_4_cam_rand.h5
deleted file mode 100644
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--- a/fridge_7/chunk_002/trajectories_batch_3_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge_7/chunk_002/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_7/chunk_002/trajectories_batch_4_of_4_cam_rand.h5
deleted file mode 100644
index 70e61825d17665448cfda2bb96a36b5e2e2c2470..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_002/trajectories_batch_4_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
deleted file mode 100644
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--- a/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
+++ /dev/null
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diff --git a/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
deleted file mode 100644
index 73192f412bea0abdb770b1e3e6ea0dcbd7b2d646..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_003/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
+++ /dev/null
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-05/10 15:53:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:53:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:53:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:53:50 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eaa413d5f10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
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-                                        -2.35619,
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-                                        1.57079,
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-                                'gripper': [0.00296, 0.00296]},
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-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20303,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:53:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:53:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:53:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:53:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:53:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:53:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:53:50 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f41cee54850>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20304,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:53:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:53:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:53:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:53:51 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:53:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:53:51 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:53:51 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a3e72a3c150>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20302,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:53:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:53:51 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:53:51 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:53:51 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 15:53:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 15:53:51 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 15:53:51 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x77b126b02810>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20301,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 15:53:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 15:53:51 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 15:53:51 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:53:54 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:53:54 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:53:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:53:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:53:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:53:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:53:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011011m	[env.py: 870]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:53:54 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:53:54 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:53:54 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:53:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:53:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79500019  0.82385382  0.01101109] yaw=-170.5deg	[env.py: 1019]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:53:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:53:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:53:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013950m	[env.py: 870]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:53:54 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0366573   0.87764913  0.01101109] yaw=-142.6deg	[env.py: 1019]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92499152  0.51050965  0.01395037] yaw=-183.4deg	[env.py: 1019]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=28.9ms, retries=298.4ms, total=327.3ms	[env.py: 1075]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.824, 0.011)	[env.py: 1079]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg	[env.py: 1082]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 15:53:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 15:53:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:53:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:53:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:53:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057388m	[env.py: 870]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:53:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95806708  0.35654412  0.01395037] yaw=175.6deg	[env.py: 1019]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02141212  0.90919666  0.01395037] yaw=-152.2deg	[env.py: 1019]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=54.6ms, retries=334.4ms, total=389.0ms	[env.py: 1075]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.511, 0.014)	[env.py: 1079]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.4 deg	[env.py: 1082]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74110588  0.87079015  0.0573882 ] yaw=-168.1deg	[env.py: 1019]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 15:53:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 15:53:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:53:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75827121  1.04572345  0.0573882 ] yaw=-146.2deg	[env.py: 1019]
-05/10 15:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073915m	[env.py: 870]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:53:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=36.8ms, retries=354.6ms, total=391.4ms	[env.py: 1075]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.871, 0.057)	[env.py: 1079]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg	[env.py: 1082]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78839704  0.16034585  0.07391536] yaw=169.5deg	[env.py: 1019]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89913076  0.09778134  0.07391536] yaw=159.0deg	[env.py: 1019]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.1ms, retries=422.8ms, total=443.9ms	[env.py: 1075]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.160, 0.074)	[env.py: 1079]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
-05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:53:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:53:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.528s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.914s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 26.552s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:54:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:54:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:54:22 INFO: [Worker 0] Warmed up parallel IK solver in 26.181s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:54:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:54:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:54:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.385[m] 101.940[deg]	[grasp_sample.py: 539]
-05/10 15:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:54:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 86.236[deg]	[grasp_sample.py: 539]
-05/10 15:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:54:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:54:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:54:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:54:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 97.665[deg]	[grasp_sample.py: 539]
-05/10 15:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.284s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:54:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.669[m] 89.926[deg]	[grasp_sample.py: 539]
-05/10 15:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:54:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:54:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:54:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:55:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:55:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:55:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:56:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 15:56:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:56:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:56:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:56:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:56:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:56:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.581[deg]	[grasp_sample.py: 539]
-05/10 15:56:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:56:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:56:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:56:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:56:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 15:56:51 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=5.12s:
-  episode_total: mean=180.64s, total=180.64s, count=1, min=180638.3ms, max=180638.3ms
-  sensor_polling: mean=451.9ms, total=135.57s, count=300, min=394.0ms, max=741.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=44.4ms
-  task_sampling: mean=5.12s, total=5.12s, count=1, min=5124.4ms, max=5124.4ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=39.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:56:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:56:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:56:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:56:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:56:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:56:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:56:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:56:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:56:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023147m	[env.py: 870]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:56:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:56:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:56:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.528[deg]	[grasp_sample.py: 539]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6861366   0.61371963  0.02314673] yaw=-165.3deg	[env.py: 1019]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=561.8ms, total=561.8ms	[env.py: 1075]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.614, 0.023)	[env.py: 1079]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
-05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:56:53 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:56:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:56:54 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 15:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 89.711[deg]	[grasp_sample.py: 539]
-05/10 15:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:56:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:56:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:56:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:56:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:56:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:56:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:56:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:56:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:56:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047529m	[env.py: 870]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:56:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0103787   0.14147697  0.04752874] yaw=147.0deg	[env.py: 1019]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67005513  0.68408673  0.04752874] yaw=-173.2deg	[env.py: 1019]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63464432  0.4488523   0.04752874] yaw=186.7deg	[env.py: 1019]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:56:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms	[env.py: 1075]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.141, 0.048)	[env.py: 1079]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.0 deg	[env.py: 1082]
-05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:56:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:56:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:56:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:56:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:56:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:56:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.317[m] 89.231[deg]	[grasp_sample.py: 539]
-05/10 15:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:56:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:56:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:56:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:57:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 15:57:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 15:57:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:57:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 15:57:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 15:57:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:57:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 15:57:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.44s (batch: 3.99s, save: 9.44s)	[pipeline.py: 300]
-05/10 15:57:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.59s:
-  episode_total: mean=215.31s, total=215.31s, count=1, min=215305.2ms, max=215305.2ms
-  sensor_polling: mean=448.8ms, total=134.65s, count=300, min=394.8ms, max=690.5ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.6ms, max=9443.6ms
-  physics_step: mean=20.7ms, total=6.21s, count=300, min=13.7ms, max=47.7ms
-  task_sampling: mean=4.59s, total=4.59s, count=1, min=4591.1ms, max=4591.1ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.2ms, max=3992.2ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  task_specific_sample: mean=800.3ms, total=800.3ms, count=1, min=800.3ms, max=800.3ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=506.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=48.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:57:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:57:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:57:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:57:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:57:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082460m	[env.py: 870]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89686507  0.82581384  0.08246013] yaw=-149.4deg	[env.py: 1019]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85648088  0.09945285  0.08246013] yaw=150.5deg	[env.py: 1019]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92949959  0.44741671  0.08246013] yaw=172.4deg	[env.py: 1019]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:57:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.5ms	[env.py: 1075]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.826, 0.082)	[env.py: 1079]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
-05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:57:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:57:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.015s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:57:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 86.737[deg]	[grasp_sample.py: 539]
-05/10 15:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:57:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:57:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 15:57:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.84s (batch: 4.67s, save: 9.17s)	[pipeline.py: 300]
-05/10 15:57:34 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.16s:
-  episode_total: mean=222.93s, total=222.93s, count=1, min=222930.0ms, max=222930.0ms
-  sensor_polling: mean=468.0ms, total=140.41s, count=300, min=402.5ms, max=740.9ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9168.3ms, max=9168.3ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=58.4ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
-  task_sampling: mean=4.16s, total=4.16s, count=1, min=4161.1ms, max=4161.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  task_specific_sample: mean=680.1ms, total=680.1ms, count=1, min=680.1ms, max=680.1ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=578.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=47.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:57:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:57:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:57:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:57:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:57:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:57:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:57:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069147m	[env.py: 870]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:57:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16174814  1.06115741  0.06914729] yaw=-144.3deg	[env.py: 1019]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81210341  0.76659614  0.06914729] yaw=-170.4deg	[env.py: 1019]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03028865  1.11454351  0.06914729] yaw=-145.0deg	[env.py: 1019]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:57:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.061, 0.069)	[env.py: 1079]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg	[env.py: 1082]
-05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:57:36 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:57:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:57:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.406[m] 87.452[deg]	[grasp_sample.py: 539]
-05/10 15:57:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:57:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:57:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:57:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:57:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:58:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:58:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:58:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:58:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:58:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:58:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:58:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:58:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.843[deg]	[grasp_sample.py: 539]
-05/10 15:58:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:58:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:58:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:58:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:58:42 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:58:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.847[deg]	[grasp_sample.py: 539]
-05/10 15:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:58:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:58:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:58:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:58:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:58:44 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:58:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.852[deg]	[grasp_sample.py: 539]
-05/10 15:58:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:58:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:58:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:59:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 15:59:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:59:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 15:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:59:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 15:59:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 15:59:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.82s:
-  episode_total: mean=173.04s, total=346.07s, count=2, min=162915.0ms, max=183158.0ms
-  sensor_polling: mean=459.9ms, total=231.79s, count=504, min=387.6ms, max=767.3ms
-  physics_step: mean=21.7ms, total=10.95s, count=504, min=12.1ms, max=52.3ms
-  task_sampling: mean=2.41s, total=4.82s, count=2, min=408.5ms, max=4414.0ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  task_specific_sample: mean=561.6ms, total=1.12s, count=2, min=405.7ms, max=717.4ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=471.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 15:59:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 15:59:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:59:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 15:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 15:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 15:59:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086876m	[env.py: 870]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 15:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63535749  0.48968607  0.08687604] yaw=-188.4deg	[env.py: 1019]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95212852  0.84260933  0.08687604] yaw=-160.5deg	[env.py: 1019]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96779893  1.26754875  0.08687604] yaw=-130.9deg	[env.py: 1019]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 15:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms	[env.py: 1075]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.490, 0.087)	[env.py: 1079]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.4 deg	[env.py: 1082]
-05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 15:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 15:59:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 15:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 15:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:59:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 94.196[deg]	[grasp_sample.py: 539]
-05/10 15:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 15:59:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 15:59:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 15:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 15:59:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 15:59:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 15:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 15:59:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 15:59:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 15:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 15:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 15:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 15:59:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.190s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 15:59:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.315[deg]	[grasp_sample.py: 539]
-05/10 15:59:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 15:59:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 15:59:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.76s (batch: 3.62s, save: 9.15s)	[pipeline.py: 300]
-05/10 15:59:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.79s:
-  episode_total: mean=185.84s, total=185.84s, count=1, min=185843.1ms, max=185843.1ms
-  sensor_polling: mean=450.0ms, total=135.01s, count=300, min=384.1ms, max=919.0ms
-  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.1ms, max=9147.1ms
-  physics_step: mean=20.1ms, total=6.04s, count=300, min=16.5ms, max=37.9ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3617.7ms, max=3617.7ms
-  task_sampling: mean=785.7ms, total=785.7ms, count=1, min=785.7ms, max=785.7ms
-  task_specific_sample: mean=782.7ms, total=782.7ms, count=1, min=782.7ms, max=782.7ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=498.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 15:59:59 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:00:00 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:00:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:00:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:00:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055814m	[env.py: 870]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6873822   0.18014073  0.05581404] yaw=160.7deg	[env.py: 1019]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70582676  0.27590113  0.05581404] yaw=172.3deg	[env.py: 1019]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95792942  0.17093901  0.05581404] yaw=162.4deg	[env.py: 1019]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.5ms	[env.py: 1075]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.180, 0.056)	[env.py: 1079]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg	[env.py: 1082]
-05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:00:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:00:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:00:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:00:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:00:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085386m	[env.py: 870]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05589427  1.10472167  0.08538633] yaw=-131.9deg	[env.py: 1019]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71613277  0.79122796  0.08538633] yaw=-151.8deg	[env.py: 1019]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01377947  0.97806664  0.08538633] yaw=-153.2deg	[env.py: 1019]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.2ms	[env.py: 1075]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 1.105, 0.085)	[env.py: 1079]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
-05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:00:02 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:00:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:00:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:00:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.172s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:00:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.606[m] 88.288[deg]	[grasp_sample.py: 539]
-05/10 16:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:00:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:00:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:00:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.096[deg]	[grasp_sample.py: 539]
-05/10 16:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:00:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:00:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:00:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:00:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:00:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.51s (batch: 4.10s, save: 10.41s)	[pipeline.py: 300]
-05/10 16:00:37 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.36s:
-  episode_total: mean=189.78s, total=189.78s, count=1, min=189778.1ms, max=189778.1ms
-  sensor_polling: mean=467.8ms, total=140.33s, count=300, min=399.7ms, max=804.2ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.8ms, max=10405.8ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=17.0ms, max=69.7ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.6ms, max=4102.6ms
-  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
-  task_specific_sample: mean=357.8ms, total=357.8ms, count=1, min=357.8ms, max=357.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:00:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:00:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:00:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014705m	[env.py: 870]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.4ms, total=143.5ms	[env.py: 1105]
-05/10 16:00:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 16:00:39 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 16:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:00:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049298m	[env.py: 870]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92679836  0.60491503  0.04929792] yaw=-176.5deg	[env.py: 1019]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85195048  0.08974893  0.04929792] yaw=150.2deg	[env.py: 1019]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82921549  0.86571128  0.04929792] yaw=-151.0deg	[env.py: 1019]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms	[env.py: 1075]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.605, 0.049)	[env.py: 1079]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg	[env.py: 1082]
-05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:00:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:00:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:00:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:00:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:00:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:00:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:00:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:00:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 83.067[deg]	[grasp_sample.py: 539]
-05/10 16:00:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:00:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:00:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:00:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:00:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:01:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:01:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:01:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:01:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:01:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:01:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:02:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:02:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:02:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:02:09 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.897[deg]	[grasp_sample.py: 539]
-05/10 16:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:02:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:02:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:02:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:02:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:02:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:02:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:02:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.721s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:02:25 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]	[grasp_sample.py: 539]
-05/10 16:02:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:02:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:02:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:02:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:02:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:02:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:02:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:02:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:02:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030293m	[env.py: 870]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:02:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86286907  0.30276229  0.0302931 ] yaw=176.6deg	[env.py: 1019]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08329868  1.06910987  0.0302931 ] yaw=-137.0deg	[env.py: 1019]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87923756  0.13175047  0.0302931 ] yaw=168.2deg	[env.py: 1019]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:02:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.4ms, total=298.4ms	[env.py: 1075]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.303, 0.030)	[env.py: 1079]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg	[env.py: 1082]
-05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:02:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:02:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:02:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:02:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:02:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:02:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:02:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:02:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:02:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:02:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.468[deg]	[grasp_sample.py: 539]
-05/10 16:02:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:02:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:02:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:02:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:02:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.76s (batch: 5.03s, save: 8.74s)	[pipeline.py: 300]
-05/10 16:02:44 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
-  episode_total: mean=183.39s, total=183.39s, count=1, min=183392.8ms, max=183392.8ms
-  sensor_polling: mean=447.9ms, total=134.36s, count=300, min=381.0ms, max=851.3ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.2ms, max=8735.2ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.5ms, max=46.7ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5027.5ms, max=5027.5ms
-  task_sampling: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
-  task_specific_sample: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:02:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:02:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:02:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:02:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:02:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:02:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:02:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:02:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:02:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023268m	[env.py: 870]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093583  1.12033653  0.02326751] yaw=-125.2deg	[env.py: 1019]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87603599  0.51231362  0.02326751] yaw=-186.5deg	[env.py: 1019]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93977958  0.28282892  0.02326751] yaw=158.1deg	[env.py: 1019]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=114.1ms, total=114.1ms	[env.py: 1075]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.120, 0.023)	[env.py: 1079]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg	[env.py: 1082]
-05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:02:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:02:46 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:02:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:02:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:02:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:02:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 98.062[deg]	[grasp_sample.py: 539]
-05/10 16:02:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:02:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:02:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:02:50 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:02:50 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.220[m] 2.768[deg]	[grasp_sample.py: 539]
-05/10 16:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:00 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:03:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.35s:
-  episode_total: mean=179.42s, total=179.42s, count=1, min=179416.7ms, max=179416.7ms
-  sensor_polling: mean=459.6ms, total=137.88s, count=300, min=393.5ms, max=758.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=12.4ms, max=63.5ms
-  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
-  task_specific_sample: mean=341.2ms, total=341.2ms, count=1, min=341.2ms, max=341.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=482.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:03:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:03:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:03:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:03:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:03:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:03:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:03:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041717m	[env.py: 870]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:03:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75215391  0.02484319  0.04171685] yaw=152.6deg	[env.py: 1019]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66629315  0.84781047  0.04171685] yaw=-149.6deg	[env.py: 1019]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90912988  0.7641917   0.04171685] yaw=-154.0deg	[env.py: 1019]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.0ms, total=395.1ms	[env.py: 1075]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.025, 0.042)	[env.py: 1079]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg	[env.py: 1082]
-05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:03:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:03:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:03:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:03:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:03:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:03:07 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.221s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:03:11 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.643[m] 93.390[deg]	[grasp_sample.py: 539]
-05/10 16:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:03:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:03:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:03:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:03:30 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 16:03:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:03:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:03:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.93s (batch: 4.74s, save: 10.19s)	[pipeline.py: 300]
-05/10 16:03:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
-  episode_total: mean=92.72s, total=185.44s, count=2, min=153.9ms, max=185283.0ms
-  sensor_polling: mean=466.8ms, total=132.58s, count=284, min=397.1ms, max=774.4ms
-  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.1ms, max=10190.1ms
-  physics_step: mean=22.7ms, total=6.43s, count=284, min=17.2ms, max=85.6ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4742.6ms, max=4742.6ms
-  task_specific_sample: mean=242.5ms, total=485.0ms, count=2, min=148.7ms, max=336.4ms
-  task_sampling: mean=339.0ms, total=339.0ms, count=1, min=339.0ms, max=339.0ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.4ms
-  mj_forward_sync: mean=407.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:03:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:03:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:03:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:03:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051112m	[env.py: 870]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91436013  0.85256996  0.0511119 ] yaw=-158.1deg	[env.py: 1019]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87781191  1.18163297  0.0511119 ] yaw=-131.7deg	[env.py: 1019]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85473775  0.66720945  0.0511119 ] yaw=-176.1deg	[env.py: 1019]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms	[env.py: 1075]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.853, 0.051)	[env.py: 1079]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
-05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:03:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:03:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:03:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:03:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:03:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:03:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.317[deg]	[grasp_sample.py: 539]
-05/10 16:03:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:03:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 16:04:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:04:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:04:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:04:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:04:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:04:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.215[deg]	[grasp_sample.py: 539]
-05/10 16:04:23 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:04:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:04:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:04:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:04:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:04:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:04:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:04:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016339m	[env.py: 870]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:04:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96402366  0.71105387  0.016339  ] yaw=-173.3deg	[env.py: 1019]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78562662  1.01733798  0.016339  ] yaw=-151.6deg	[env.py: 1019]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61691606  0.45008605  0.016339  ] yaw=188.7deg	[env.py: 1019]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:04:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms	[env.py: 1075]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.711, 0.016)	[env.py: 1079]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
-05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:04:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:04:26 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:04:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:04:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:04:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:04:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:04:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:04:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 84.673[deg]	[grasp_sample.py: 539]
-05/10 16:04:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:04:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:04:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:04:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 16:04:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:04:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:04:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:04:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:04:39 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.101[m] 0.696[deg]	[grasp_sample.py: 539]
-05/10 16:04:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:04:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:04:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:04:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:04:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:05:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:05:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:05:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:05:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:05:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:05:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.710s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:05:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.103[m] 1.690[deg]	[grasp_sample.py: 539]
-05/10 16:05:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:05:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:05:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:05:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:05:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:05:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:05:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:05:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:05:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053166m	[env.py: 870]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:05:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82456827  0.32426179  0.05316647] yaw=170.0deg	[env.py: 1019]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95649813  1.25746543  0.05316647] yaw=-132.9deg	[env.py: 1019]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87786105  0.39668181  0.05316647] yaw=184.9deg	[env.py: 1019]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.0ms, total=196.1ms	[env.py: 1075]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.324, 0.053)	[env.py: 1079]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:05:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:05:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:05:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:05:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:05:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.432[m] 88.458[deg]	[grasp_sample.py: 539]
-05/10 16:05:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:05:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:05:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:05:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:05:59 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.66s:
-  episode_total: mean=177.59s, total=177.59s, count=1, min=177588.0ms, max=177588.0ms
-  sensor_polling: mean=514.5ms, total=154.36s, count=300, min=420.2ms, max=1010.1ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=17.2ms, max=114.5ms
-  task_sampling: mean=664.3ms, total=664.3ms, count=1, min=664.3ms, max=664.3ms
-  task_specific_sample: mean=660.7ms, total=660.7ms, count=1, min=660.7ms, max=660.7ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=532.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:06:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:06:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:06:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:06:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:06:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:06:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:06:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071049m	[env.py: 870]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:06:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64479938  0.6990011   0.07104915] yaw=-179.9deg	[env.py: 1019]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6918244   0.72108893  0.07104915] yaw=-177.1deg	[env.py: 1019]
-05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91956634  0.12345181  0.07104915] yaw=154.2deg	[env.py: 1019]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:06:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms	[env.py: 1075]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.699, 0.071)	[env.py: 1079]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg	[env.py: 1082]
-05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
-05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:06:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:06:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:06:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:06:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:06:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:06:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:06:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:06:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.653[m] 94.027[deg]	[grasp_sample.py: 539]
-05/10 16:06:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:06:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:06:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:06:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:06:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:06:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:06:40 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:07:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:07:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:07:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:07:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:07:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:07:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:07:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:07:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.80s (batch: 4.34s, save: 9.45s)	[pipeline.py: 300]
-05/10 16:07:18 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
-  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.7ms, max=211050.7ms
-  sensor_polling: mean=532.7ms, total=159.82s, count=300, min=452.1ms, max=927.0ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9453.4ms, max=9453.4ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=15.9ms, max=105.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.1ms, max=4342.1ms
-  task_sampling: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms
-  task_specific_sample: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:07:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:07:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:07:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:07:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:07:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:07:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:07:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021284m	[env.py: 870]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:07:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78428527  0.53661773  0.02128433] yaw=-177.2deg	[env.py: 1019]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75751337  0.22356384  0.02128433] yaw=170.0deg	[env.py: 1019]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:07:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.1ms	[env.py: 1075]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.537, 0.021)	[env.py: 1079]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg	[env.py: 1082]
-05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:07:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:07:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:07:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:07:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:07:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:07:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:07:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:07:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.458[m] 89.637[deg]	[grasp_sample.py: 539]
-05/10 16:07:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:07:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:07:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:07:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:07:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:07:31 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 16:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:07:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:07:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:07:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.09s (batch: 3.57s, save: 8.52s)	[pipeline.py: 300]
-05/10 16:07:44 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=2.02s:
-  episode_total: mean=150.62s, total=602.49s, count=4, min=114512.1ms, max=199018.0ms
-  sensor_polling: mean=484.3ms, total=496.88s, count=1026, min=382.2ms, max=1086.5ms
-  physics_step: mean=22.9ms, total=23.47s, count=1026, min=13.5ms, max=77.8ms
-  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8519.3ms, max=8519.3ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.4ms, max=3570.4ms
-  task_sampling: mean=505.3ms, total=2.02s, count=4, min=441.6ms, max=550.3ms
-  task_specific_sample: mean=501.8ms, total=2.01s, count=4, min=438.1ms, max=546.0ms
-  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=423.7us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:07:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:07:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:07:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:07:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:07:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:07:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:07:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008012m	[env.py: 870]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:07:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04043767  1.15785182  0.00801228] yaw=-127.4deg	[env.py: 1019]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226372  0.74286289  0.00801228] yaw=-162.3deg	[env.py: 1019]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86058081  0.7330473   0.00801228] yaw=-152.2deg	[env.py: 1019]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:07:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.5ms	[env.py: 1075]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 1.158, 0.008)	[env.py: 1079]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg	[env.py: 1082]
-05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:07:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:07:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:07:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:07:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:07:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:07:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:07:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:07:49 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.553[m] 85.963[deg]	[grasp_sample.py: 539]
-05/10 16:07:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:07:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:07:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:08:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:08:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:08:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:08:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:08:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:08:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:08:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:08:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:09:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:09:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:09:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:09:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.73s (batch: 5.40s, save: 12.33s)	[pipeline.py: 300]
-05/10 16:09:09 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.85s:
-  episode_total: mean=190.74s, total=381.49s, count=2, min=154903.3ms, max=226584.4ms
-  sensor_polling: mean=506.6ms, total=281.66s, count=556, min=397.9ms, max=946.8ms
-  physics_step: mean=25.5ms, total=14.16s, count=556, min=14.0ms, max=74.8ms
-  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12326.7ms, max=12326.7ms
-  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5399.2ms, max=5399.2ms
-  task_sampling: mean=425.7ms, total=851.5ms, count=2, min=362.6ms, max=488.9ms
-  task_specific_sample: mean=421.6ms, total=843.2ms, count=2, min=358.0ms, max=485.2ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.7ms, max=3.1ms
-  mj_forward_sync: mean=580.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:09:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:09:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:09:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:09:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:09:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:09:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:09:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020984m	[env.py: 870]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:09:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64850925  0.20567394  0.02098371] yaw=175.3deg	[env.py: 1019]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77885999  0.79695431  0.02098371] yaw=-171.4deg	[env.py: 1019]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90969762  0.76294588  0.02098371] yaw=-158.0deg	[env.py: 1019]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:09:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.206, 0.021)	[env.py: 1079]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
-05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:09:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:09:11 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:09:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.173s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:09:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.630[m] 81.530[deg]	[grasp_sample.py: 539]
-05/10 16:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:09:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:09:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:09:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:09:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:09:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:09:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.28s (batch: 4.64s, save: 11.64s)	[pipeline.py: 300]
-05/10 16:09:39 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=217.46s, total=217.46s, count=1, min=217461.8ms, max=217461.8ms
-  sensor_polling: mean=521.0ms, total=156.30s, count=300, min=439.9ms, max=1121.7ms
-  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11641.7ms, max=11641.7ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=16.4ms, max=82.0ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.3ms, max=4635.3ms
-  task_sampling: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
-  task_specific_sample: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:09:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:09:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:09:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:09:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:09:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:09:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:09:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040811m	[env.py: 870]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:09:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98531105  0.75226466  0.04081066] yaw=-154.2deg	[env.py: 1019]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11672179  1.13617272  0.04081066] yaw=-138.8deg	[env.py: 1019]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16276934  1.14365327  0.04081066] yaw=-127.6deg	[env.py: 1019]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:09:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=242.9ms	[env.py: 1075]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.752, 0.041)	[env.py: 1079]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
-05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:09:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:09:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:09:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:09:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:09:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:09:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:09:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.300[m] 81.061[deg]	[grasp_sample.py: 539]
-05/10 16:09:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:10:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:10:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:10:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:10:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:10:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:10:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:10:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:10:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:10:35 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.845[deg]	[grasp_sample.py: 539]
-05/10 16:10:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:10:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:10:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:10:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:10:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024879m	[env.py: 870]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77662835  0.03348251  0.02487855] yaw=160.1deg	[env.py: 1019]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7262239   0.32107356  0.02487855] yaw=180.6deg	[env.py: 1019]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91694472  1.04422765  0.02487855] yaw=-137.8deg	[env.py: 1019]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:10:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms	[env.py: 1075]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.033, 0.025)	[env.py: 1079]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
-05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:10:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:10:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:10:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:10:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:10:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:10:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.984s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:10:45 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.557[m] 78.082[deg]	[grasp_sample.py: 539]
-05/10 16:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:10:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:10:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:10:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:10:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:10:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.66s (batch: 4.56s, save: 9.10s)	[pipeline.py: 300]
-05/10 16:10:48 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
-  episode_total: mean=208.11s, total=208.11s, count=1, min=208112.0ms, max=208112.0ms
-  sensor_polling: mean=525.9ms, total=157.77s, count=300, min=444.5ms, max=860.4ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.5ms, max=9098.5ms
-  physics_step: mean=27.4ms, total=8.21s, count=300, min=15.7ms, max=100.1ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4557.6ms, max=4557.6ms
-  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:10:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:10:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:10:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:10:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:10:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:10:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:10:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027659m	[env.py: 870]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:10:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76199908  0.39991185  0.02765918] yaw=174.5deg	[env.py: 1019]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73440049  0.34856376  0.02765918] yaw=164.5deg	[env.py: 1019]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73547019  0.34422849  0.02765918] yaw=161.6deg	[env.py: 1019]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:10:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.5ms	[env.py: 1075]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.400, 0.028)	[env.py: 1079]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg	[env.py: 1082]
-05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:10:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:10:50 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:10:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:10:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:10:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:10:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:10:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:10:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 96.274[deg]	[grasp_sample.py: 539]
-05/10 16:10:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:10:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:10:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:11:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:11:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:11:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:12:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:12:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:12:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:12:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:12:19 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:12:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:12:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:12:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:12:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:12:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:12:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.24s (batch: 4.40s, save: 8.83s)	[pipeline.py: 300]
-05/10 16:12:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:12:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:12:42 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
-05/10 16:12:43 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.07s, total=212.07s, count=1, min=212067.6ms, max=212067.6ms
-  sensor_polling: mean=520.6ms, total=156.17s, count=300, min=447.3ms, max=935.7ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.2ms, max=8831.2ms
-  physics_step: mean=27.3ms, total=8.20s, count=300, min=15.9ms, max=132.3ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.0ms, max=4404.0ms
-  task_sampling: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms
-  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:12:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:12:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:12:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083230m	[env.py: 870]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86995707  0.37200679  0.08322995] yaw=175.8deg	[env.py: 1019]
-05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02365657  1.33294457  0.08322995] yaw=-134.3deg	[env.py: 1019]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13155728  1.1543769   0.08322995] yaw=-139.8deg	[env.py: 1019]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms	[env.py: 1075]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.372, 0.083)	[env.py: 1079]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
-05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:12:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:12:45 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:12:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:12:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.369[m] 88.727[deg]	[grasp_sample.py: 539]
-05/10 16:12:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:12:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:12:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:12:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:12:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:12:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.08s (batch: 3.89s, save: 11.19s)	[pipeline.py: 300]
-05/10 16:12:58 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.62s:
-  episode_total: mean=197.15s, total=197.15s, count=1, min=197154.3ms, max=197154.3ms
-  sensor_polling: mean=523.0ms, total=146.43s, count=280, min=444.0ms, max=1104.3ms
-  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.8ms, max=11192.8ms
-  physics_step: mean=26.1ms, total=7.31s, count=280, min=16.2ms, max=82.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.7ms, max=3886.7ms
-  task_sampling: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
-  task_specific_sample: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=667.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=38.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:13:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:13:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:13:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084186m	[env.py: 870]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69242053  0.29765203  0.0841857 ] yaw=170.5deg	[env.py: 1019]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92735471  0.17514077  0.0841857 ] yaw=154.6deg	[env.py: 1019]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97670215  0.14622667  0.0841857 ] yaw=154.8deg	[env.py: 1019]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms	[env.py: 1075]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.298, 0.084)	[env.py: 1079]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
-05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:13:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:13:00 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:13:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:13:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:13:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:13:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:13:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 90.479[deg]	[grasp_sample.py: 539]
-05/10 16:13:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:13:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:13:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:13:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:13:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:13:39 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:13:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:13:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:14:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:14:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:14:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:14:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:14:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:14:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:14:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:14:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:14:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:14:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:14:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.84s (batch: 4.39s, save: 8.45s)	[pipeline.py: 300]
-05/10 16:14:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
-  episode_total: mean=193.53s, total=387.06s, count=2, min=170400.3ms, max=216658.1ms
-  sensor_polling: mean=534.2ms, total=305.53s, count=572, min=438.8ms, max=1213.2ms
-  physics_step: mean=26.5ms, total=15.18s, count=572, min=16.2ms, max=116.2ms
-  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8445.7ms, max=8445.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.9ms, max=4390.9ms
-  task_sampling: mean=419.7ms, total=839.5ms, count=2, min=403.9ms, max=435.6ms
-  task_specific_sample: mean=416.0ms, total=831.9ms, count=2, min=400.2ms, max=431.7ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms
-  mj_forward_sync: mean=440.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:14:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:14:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:14:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:14:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040415m	[env.py: 870]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88845622  0.16469359  0.0404149 ] yaw=159.5deg	[env.py: 1019]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.01780578e-01 -5.14398145e-04  4.04149035e-02] yaw=158.0deg	[env.py: 1019]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97351063  0.79620422  0.0404149 ] yaw=-157.6deg	[env.py: 1019]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms	[env.py: 1075]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.165, 0.040)	[env.py: 1079]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg	[env.py: 1082]
-05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:14:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:14:17 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:14:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:14:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.422[m] 83.915[deg]	[grasp_sample.py: 539]
-05/10 16:14:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:14:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:14:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:14:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:14:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.93s (batch: 4.17s, save: 8.76s)	[pipeline.py: 300]
-05/10 16:14:23 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
-  episode_total: mean=213.49s, total=213.49s, count=1, min=213490.3ms, max=213490.3ms
-  sensor_polling: mean=548.6ms, total=164.58s, count=300, min=449.1ms, max=955.0ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.5ms, max=8756.5ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=19.3ms, max=99.9ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
-  task_sampling: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms
-  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:14:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034588m	[env.py: 870]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90001371  0.45782883  0.03458801] yaw=170.0deg	[env.py: 1019]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98531448  0.81537532  0.03458801] yaw=-146.1deg	[env.py: 1019]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98926225  0.90092376  0.03458801] yaw=-138.9deg	[env.py: 1019]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.3ms, total=250.3ms	[env.py: 1075]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.458, 0.035)	[env.py: 1079]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:14:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:14:25 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:14:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:14:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:14:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:14:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:14:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:14:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 80.022[deg]	[grasp_sample.py: 539]
-05/10 16:14:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:14:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:14:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:14:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:14:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:14:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:14:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.132s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:14:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:14:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.646[deg]	[grasp_sample.py: 539]
-05/10 16:15:00 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:15:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:15:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:15:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:15:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:15:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:15:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:15:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064119m	[env.py: 870]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:15:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93933415  0.25713024  0.06411899] yaw=158.7deg	[env.py: 1019]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67401222  0.48816854  0.06411899] yaw=-168.4deg	[env.py: 1019]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97974758  1.25713964  0.06411899] yaw=-126.5deg	[env.py: 1019]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.6ms, total=277.7ms	[env.py: 1075]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.257, 0.064)	[env.py: 1079]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
-05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:15:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:15:03 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:15:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:15:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:15:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:15:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 88.824[deg]	[grasp_sample.py: 539]
-05/10 16:15:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:15:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:15:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:15:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:15:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:15:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:15:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:15:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:16:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:16:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:16:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:16:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:16:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 4.34s, save: 10.60s)	[pipeline.py: 300]
-05/10 16:16:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
-  episode_total: mean=213.06s, total=213.06s, count=1, min=213064.8ms, max=213064.8ms
-  sensor_polling: mean=519.9ms, total=155.96s, count=300, min=443.3ms, max=910.8ms
-  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10604.7ms, max=10604.7ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=18.9ms, max=93.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.7ms, max=4344.7ms
-  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
-  task_specific_sample: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:16:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:16:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:16:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:16:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:16:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:16:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033911m	[env.py: 870]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:16:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97057961  0.86211681  0.03391084] yaw=-142.1deg	[env.py: 1019]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93489134  1.25786349  0.03391084] yaw=-136.3deg	[env.py: 1019]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8734841   0.33948078  0.03391084] yaw=163.7deg	[env.py: 1019]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:16:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.1ms, total=238.1ms	[env.py: 1075]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.862, 0.034)	[env.py: 1079]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg	[env.py: 1082]
-05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:16:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:16:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:16:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:16:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:16:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:16:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:16:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:16:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 89.973[deg]	[grasp_sample.py: 539]
-05/10 16:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:16:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:16:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.148[deg]	[grasp_sample.py: 539]
-05/10 16:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:16:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:16:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:16:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:16:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:16:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:16:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:16:51 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.512[deg]	[grasp_sample.py: 539]
-05/10 16:16:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:16:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:16:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:16:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:17:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:17:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
-05/10 16:17:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:17:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:09 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
-05/10 16:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:17:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:17:30 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 16:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:17:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:17:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.014s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:34 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.766[deg]	[grasp_sample.py: 539]
-05/10 16:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:35 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:17:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:17:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 16:17:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:17:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=1.09s:
-  episode_total: mean=144.74s, total=289.48s, count=2, min=135463.7ms, max=154020.2ms
-  sensor_polling: mean=519.1ms, total=214.89s, count=414, min=442.8ms, max=1179.4ms
-  physics_step: mean=25.9ms, total=10.71s, count=414, min=13.3ms, max=75.8ms
-  task_sampling: mean=542.9ms, total=1.09s, count=2, min=520.4ms, max=565.3ms
-  task_specific_sample: mean=539.0ms, total=1.08s, count=2, min=516.4ms, max=561.5ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=496.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:17:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070770m	[env.py: 870]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75914779  0.17393625  0.07076972] yaw=162.7deg	[env.py: 1019]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91777318  0.05388592  0.07076972] yaw=158.6deg	[env.py: 1019]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86167201  1.18775974  0.07076972] yaw=-147.7deg	[env.py: 1019]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms	[env.py: 1075]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.174, 0.071)	[env.py: 1079]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg	[env.py: 1082]
-05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:17:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:17:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:17:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:17:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:17:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:17:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059648m	[env.py: 870]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:17:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89258879  1.13693941  0.0596475 ] yaw=-136.5deg	[env.py: 1019]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77685847  0.40315249  0.0596475 ] yaw=178.8deg	[env.py: 1019]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74934075  0.92279278  0.0596475 ] yaw=-165.0deg	[env.py: 1019]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.5ms, total=95.5ms	[env.py: 1075]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.137, 0.060)	[env.py: 1079]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg	[env.py: 1082]
-05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:17:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:17:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.021s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.564[m] 87.634[deg]	[grasp_sample.py: 539]
-05/10 16:17:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:17:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:17:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.793s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:42 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 88.198[deg]	[grasp_sample.py: 539]
-05/10 16:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:17:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:17:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:17:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:17:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:17:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.80s (batch: 4.84s, save: 10.96s)	[pipeline.py: 300]
-05/10 16:17:46 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
-  episode_total: mean=201.70s, total=201.70s, count=1, min=201695.8ms, max=201695.8ms
-  sensor_polling: mean=519.9ms, total=149.72s, count=288, min=436.0ms, max=797.4ms
-  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.7ms, max=10964.7ms
-  physics_step: mean=28.2ms, total=8.13s, count=288, min=16.4ms, max=83.0ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.2ms, max=4839.2ms
-  task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
-  task_specific_sample: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=634.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:17:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009944m	[env.py: 870]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70033216  0.80277506  0.00994405] yaw=-170.9deg	[env.py: 1019]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03097913  0.828807    0.00994405] yaw=-152.2deg	[env.py: 1019]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms	[env.py: 1075]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.803, 0.010)	[env.py: 1079]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
-05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:17:49 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.607[m] 88.436[deg]	[grasp_sample.py: 539]
-05/10 16:17:52 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:17:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:17:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:17:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:17:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032844m	[env.py: 870]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74052538  0.12196726  0.03284389] yaw=164.4deg	[env.py: 1019]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89239633  0.27791917  0.03284389] yaw=177.0deg	[env.py: 1019]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16404811  1.03997636  0.03284389] yaw=-135.0deg	[env.py: 1019]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms	[env.py: 1075]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.122, 0.033)	[env.py: 1079]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
-05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:17:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:17:54 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:17:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:17:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:17:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:17:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.950s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:17:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 87.021[deg]	[grasp_sample.py: 539]
-05/10 16:17:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:17:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:17:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:18:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:18:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:18:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:19:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:19:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:19:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:19:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:19:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:19:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:19:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:19:48 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 16:20:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:20:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:20:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.63s (batch: 4.21s, save: 9.42s)	[pipeline.py: 300]
-05/10 16:20:02 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s:
-  episode_total: mean=207.33s, total=207.33s, count=1, min=207334.2ms, max=207334.2ms
-  sensor_polling: mean=522.9ms, total=154.79s, count=296, min=439.4ms, max=846.9ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9420.1ms, max=9420.1ms
-  physics_step: mean=26.0ms, total=7.71s, count=296, min=15.8ms, max=90.7ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.2ms, max=4212.2ms
-  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
-  task_specific_sample: mean=545.2ms, total=545.2ms, count=1, min=545.2ms, max=545.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:20:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:20:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:20:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:20:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:20:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:20:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001852m	[env.py: 870]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:20:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80084453  1.10818126  0.0018516 ] yaw=-150.0deg	[env.py: 1019]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8730356   0.33828368  0.0018516 ] yaw=176.6deg	[env.py: 1019]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77338296  0.61552429  0.0018516 ] yaw=-176.9deg	[env.py: 1019]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:20:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms	[env.py: 1075]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 1.108, 0.002)	[env.py: 1079]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
-05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:20:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:20:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:20:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:20:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.693[m] 95.221[deg]	[grasp_sample.py: 539]
-05/10 16:20:07 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:20:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:20:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:20:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005519m	[env.py: 870]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70556433  0.8489907   0.00551935] yaw=-163.8deg	[env.py: 1019]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79733617 -0.0107319   0.00551935] yaw=161.1deg	[env.py: 1019]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:20:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms	[env.py: 1075]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.849, 0.006)	[env.py: 1079]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
-05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:20:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:20:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:20:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:20:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 87.449[deg]	[grasp_sample.py: 539]
-05/10 16:20:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:20:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:20:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:20:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.916s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 16:20:39 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 16:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:20:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:20:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:20:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:20:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:20:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078665m	[env.py: 870]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:20:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76230967  0.16982757  0.07866528] yaw=171.6deg	[env.py: 1019]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9976375   0.75506318  0.07866528] yaw=-149.6deg	[env.py: 1019]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79286703  0.69471688  0.07866528] yaw=-155.5deg	[env.py: 1019]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:20:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.2ms, total=512.2ms	[env.py: 1075]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.170, 0.079)	[env.py: 1079]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
-05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:20:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.054s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:20:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.560[m] 97.153[deg]	[grasp_sample.py: 539]
-05/10 16:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:20:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:20:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:20:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:20:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:20:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:20:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.306[deg]	[grasp_sample.py: 539]
-05/10 16:20:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:20:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:20:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:20:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:20:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:20:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:20:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077196m	[env.py: 870]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:20:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90942821  0.49564426  0.07719582] yaw=-175.6deg	[env.py: 1019]
-05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95425783  0.1672931   0.07719582] yaw=149.2deg	[env.py: 1019]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76981924  0.72782019  0.07719582] yaw=-163.6deg	[env.py: 1019]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:20:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.3ms, total=261.3ms	[env.py: 1075]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.496, 0.077)	[env.py: 1079]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.6 deg	[env.py: 1082]
-05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:20:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:20:48 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:20:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:20:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:20:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:20:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:20:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:20:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 97.959[deg]	[grasp_sample.py: 539]
-05/10 16:20:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:20:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:20:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:20:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:21:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:21:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:21:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:21:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:21:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:21:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:21:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.34s (batch: 5.03s, save: 9.31s)	[pipeline.py: 300]
-05/10 16:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:32 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
-  episode_total: mean=111.34s, total=222.69s, count=2, min=3924.5ms, max=218764.2ms
-  sensor_polling: mean=534.0ms, total=160.21s, count=300, min=459.3ms, max=852.5ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.7ms, max=9305.7ms
-  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.0ms, max=61.0ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.5ms, max=5033.5ms
-  task_sampling: mean=460.6ms, total=921.1ms, count=2, min=387.7ms, max=533.4ms
-  task_specific_sample: mean=456.2ms, total=912.5ms, count=2, min=384.2ms, max=528.3ms
-  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=1.5ms, max=3.6ms
-  mj_forward_sync: mean=608.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:21:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:21:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:21:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093497m	[env.py: 870]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99094009  0.1769598   0.0934975 ] yaw=155.8deg	[env.py: 1019]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86959035  0.45016866  0.0934975 ] yaw=170.2deg	[env.py: 1019]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72183036  0.01775648  0.0934975 ] yaw=159.9deg	[env.py: 1019]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms	[env.py: 1075]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 0.177, 0.093)	[env.py: 1079]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg	[env.py: 1082]
-05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:21:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:21:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:21:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:21:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:21:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:21:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:21:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 100.324[deg]	[grasp_sample.py: 539]
-05/10 16:21:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:21:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:21:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:22:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:22:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:23:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:23:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:23:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:23:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:23:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:23:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.183[deg]	[grasp_sample.py: 539]
-05/10 16:23:24 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:23:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:23:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:23:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:23:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:23:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062068m	[env.py: 870]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67073229  0.82334331  0.06206791] yaw=-154.8deg	[env.py: 1019]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84445441  0.52527591  0.06206791] yaw=-180.9deg	[env.py: 1019]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76404605  0.63309722  0.06206791] yaw=-162.0deg	[env.py: 1019]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms	[env.py: 1075]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.823, 0.062)	[env.py: 1079]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg	[env.py: 1082]
-05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:23:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:23:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:23:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:23:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:23:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:23:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.367s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:23:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.672[m] 87.062[deg]	[grasp_sample.py: 539]
-05/10 16:23:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:23:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:23:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:23:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:23:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.34s (batch: 4.19s, save: 8.15s)	[pipeline.py: 300]
-05/10 16:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:37 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:23:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.94s:
-  episode_total: mean=105.88s, total=211.75s, count=2, min=3358.9ms, max=208394.3ms
-  sensor_polling: mean=534.5ms, total=160.35s, count=300, min=450.8ms, max=1017.7ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8151.1ms, max=8151.1ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.6ms, max=84.1ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.0ms, max=4186.0ms
-  task_sampling: mean=471.3ms, total=942.6ms, count=2, min=439.9ms, max=502.7ms
-  task_specific_sample: mean=467.7ms, total=935.3ms, count=2, min=436.8ms, max=498.6ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:23:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:23:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:23:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:23:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041867m	[env.py: 870]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04484886  0.87475995  0.04186663] yaw=-146.6deg	[env.py: 1019]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms	[env.py: 1075]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.875, 0.042)	[env.py: 1079]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
-05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:23:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:23:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:23:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:23:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:23:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.587s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:23:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 87.013[deg]	[grasp_sample.py: 539]
-05/10 16:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:23:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:23:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:23:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:23:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:23:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:23:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:23:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:23:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.992[deg]	[grasp_sample.py: 539]
-05/10 16:23:50 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:23:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:23:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:23:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:23:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:23:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:23:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073540m	[env.py: 870]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:23:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86593892  0.30653598  0.07354029] yaw=157.0deg	[env.py: 1019]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91058476  0.33824859  0.07354029] yaw=163.7deg	[env.py: 1019]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84284844  0.10147941  0.07354029] yaw=154.5deg	[env.py: 1019]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:23:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.2ms	[env.py: 1075]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.307, 0.074)	[env.py: 1079]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
-05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:23:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:23:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:23:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:23:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:23:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:23:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:23:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:23:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.398[m] 85.289[deg]	[grasp_sample.py: 539]
-05/10 16:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:23:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:23:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:24:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:24:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:24:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:24:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.02s (batch: 4.69s, save: 11.33s)	[pipeline.py: 300]
-05/10 16:24:20 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.67s:
-  episode_total: mean=200.13s, total=600.39s, count=3, min=188567.6ms, max=212845.0ms
-  sensor_polling: mean=525.1ms, total=456.85s, count=870, min=440.9ms, max=1002.4ms
-  physics_step: mean=25.2ms, total=21.92s, count=870, min=15.6ms, max=109.1ms
-  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11327.9ms, max=11327.9ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4692.7ms, max=4692.7ms
-  task_sampling: mean=556.0ms, total=1.67s, count=3, min=514.6ms, max=607.7ms
-  task_specific_sample: mean=552.1ms, total=1.66s, count=3, min=510.8ms, max=604.3ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.6ms, max=2.5ms
-  mj_forward_sync: mean=544.5us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:24:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:24:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:24:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:24:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059099m	[env.py: 870]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06711343  1.21619197  0.05909856] yaw=-135.8deg	[env.py: 1019]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72625719  0.67466175  0.05909856] yaw=-180.2deg	[env.py: 1019]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81071773  0.59215573  0.05909856] yaw=-175.6deg	[env.py: 1019]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.5ms	[env.py: 1075]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.067, 1.216, 0.059)	[env.py: 1079]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg	[env.py: 1082]
-05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:24:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:24:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:24:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:24:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.891s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:24:27 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.537[m] 79.409[deg]	[grasp_sample.py: 539]
-05/10 16:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:24:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:24:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:25:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 16:25:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:25:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:25:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:25:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:25:16 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.900s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:25:16 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.844[deg]	[grasp_sample.py: 539]
-05/10 16:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:25:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:25:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:25:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:25:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:25:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:25:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:25:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:26:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:26:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:26:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:26:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.253[deg]	[grasp_sample.py: 539]
-05/10 16:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:16 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:26:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.86s:
-  episode_total: mean=140.11s, total=280.22s, count=2, min=109913.9ms, max=170305.5ms
-  sensor_polling: mean=525.2ms, total=246.31s, count=469, min=433.2ms, max=941.6ms
-  physics_step: mean=25.4ms, total=11.92s, count=469, min=16.2ms, max=80.4ms
-  task_sampling: mean=429.0ms, total=858.1ms, count=2, min=403.1ms, max=454.9ms
-  task_specific_sample: mean=425.4ms, total=850.8ms, count=2, min=399.1ms, max=451.7ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:26:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:26:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:26:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:26:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:26:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:26:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013091m	[env.py: 870]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:26:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99154187  1.11633231  0.01309076] yaw=-135.1deg	[env.py: 1019]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67323299  0.79388964  0.01309076] yaw=-152.2deg	[env.py: 1019]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78917736  0.9803987   0.01309076] yaw=-159.0deg	[env.py: 1019]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 1.116, 0.013)	[env.py: 1079]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
-05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:26:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:26:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:26:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:26:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:26:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:26:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:26:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 91.410[deg]	[grasp_sample.py: 539]
-05/10 16:26:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:26:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:26:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:26:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:26:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:26:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:26:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:26:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087298m	[env.py: 870]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:26:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88063798  0.38033654  0.08729835] yaw=165.3deg	[env.py: 1019]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93485014  0.31995196  0.08729835] yaw=177.5deg	[env.py: 1019]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15611414  1.15962341  0.08729835] yaw=-136.9deg	[env.py: 1019]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:26:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms	[env.py: 1075]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.380, 0.087)	[env.py: 1079]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
-05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:26:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:26:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:26:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:26:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.413[m] 95.775[deg]	[grasp_sample.py: 539]
-05/10 16:26:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:26:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:26:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:26:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:26:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.380s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:26:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.044[m] 1.034[deg]	[grasp_sample.py: 539]
-05/10 16:26:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:26:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:26:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:26:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:26:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:26:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:26:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.631s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:26:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]	[grasp_sample.py: 539]
-05/10 16:26:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:26:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:26:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:26:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:26:44 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 16:26:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:26:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:26:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:26:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.60s (batch: 4.29s, save: 8.30s)	[pipeline.py: 300]
-05/10 16:26:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
-  episode_total: mean=198.63s, total=198.63s, count=1, min=198630.7ms, max=198630.7ms
-  sensor_polling: mean=536.9ms, total=151.94s, count=283, min=449.0ms, max=987.9ms
-  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8303.4ms, max=8303.4ms
-  physics_step: mean=26.2ms, total=7.41s, count=283, min=16.1ms, max=66.7ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.1ms, max=4293.1ms
-  task_sampling: mean=571.8ms, total=571.8ms, count=1, min=571.8ms, max=571.8ms
-  task_specific_sample: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=572.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:26:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:26:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052555m	[env.py: 870]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04097692  1.03950816  0.05255549] yaw=-146.9deg	[env.py: 1019]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80319627  0.62207066  0.05255549] yaw=-180.2deg	[env.py: 1019]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77152025  0.36809211  0.05255549] yaw=175.3deg	[env.py: 1019]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=289.9ms, total=290.0ms	[env.py: 1075]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.040, 0.053)	[env.py: 1079]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
-05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:27:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:27:00 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:27:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:27:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.041[deg]	[grasp_sample.py: 539]
-05/10 16:27:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:27:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:27:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:27:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:12 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:27:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:27:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:27:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:27:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:27:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.261[deg]	[grasp_sample.py: 539]
-05/10 16:27:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:27:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:27:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:34 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:27:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.60s:
-  episode_total: mean=192.16s, total=192.16s, count=1, min=192158.4ms, max=192158.4ms
-  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=446.8ms, max=895.4ms
-  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.4ms, max=71.0ms
-  task_sampling: mean=595.4ms, total=595.4ms, count=1, min=595.4ms, max=595.4ms
-  task_specific_sample: mean=590.7ms, total=590.7ms, count=1, min=590.7ms, max=590.7ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=622.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:27:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:27:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:27:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:27:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:27:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:27:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022706m	[env.py: 870]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98687091  0.15740173  0.02270557] yaw=161.0deg	[env.py: 1019]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.157, 0.023)	[env.py: 1079]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
-05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:27:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:27:37 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:27:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:27:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:27:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:27:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:27:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.305[m] 82.211[deg]	[grasp_sample.py: 539]
-05/10 16:27:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:27:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:27:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.70s (batch: 4.54s, save: 9.16s)	[pipeline.py: 300]
-05/10 16:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.88s:
-  episode_total: mean=202.66s, total=607.98s, count=3, min=181017.1ms, max=237928.0ms
-  sensor_polling: mean=523.5ms, total=469.10s, count=896, min=448.3ms, max=1000.8ms
-  physics_step: mean=26.6ms, total=23.79s, count=896, min=14.0ms, max=72.2ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9155.3ms, max=9155.3ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.9ms, max=4541.9ms
-  task_sampling: mean=625.3ms, total=1.88s, count=3, min=374.2ms, max=903.4ms
-  task_specific_sample: mean=621.7ms, total=1.87s, count=3, min=370.9ms, max=899.4ms
-  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.7ms
-  mj_forward_sync: mean=450.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:27:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:27:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:27:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:27:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:27:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:27:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034681m	[env.py: 870]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:27:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82143514  0.86155997  0.03468113] yaw=-167.5deg	[env.py: 1019]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02534892  0.8238947   0.03468113] yaw=-151.2deg	[env.py: 1019]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:27:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.3ms, total=366.3ms	[env.py: 1075]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.862, 0.035)	[env.py: 1079]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
-05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:27:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:27:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:27:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:27:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:27:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:27:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:27:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:27:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.167[deg]	[grasp_sample.py: 539]
-05/10 16:27:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:27:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:27:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:28:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:28:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:28:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:28:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.185[deg]	[grasp_sample.py: 539]
-05/10 16:28:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:28:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:28:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:28:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:29:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:29:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.848[deg]	[grasp_sample.py: 539]
-05/10 16:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:29:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:29:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:29:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:29:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067332m	[env.py: 870]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09651482  1.05819427  0.06733227] yaw=-134.2deg	[env.py: 1019]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86513804  0.44998153  0.06733227] yaw=187.8deg	[env.py: 1019]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20355933  1.06356037  0.06733227] yaw=-139.4deg	[env.py: 1019]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms	[env.py: 1075]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.058, 0.067)	[env.py: 1079]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
-05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:29:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:29:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 84.356[deg]	[grasp_sample.py: 539]
-05/10 16:29:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.110[deg]	[grasp_sample.py: 539]
-05/10 16:29:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:29:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:29:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:29:13 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:29:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:29:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:29:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077671m	[env.py: 870]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75172133  0.88893214  0.07767075] yaw=-164.5deg	[env.py: 1019]
-05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88947699  0.65714932  0.07767075] yaw=-172.6deg	[env.py: 1019]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.4ms, total=308.4ms	[env.py: 1075]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.889, 0.078)	[env.py: 1079]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
-05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:29:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.644s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:18 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.637[m] 89.072[deg]	[grasp_sample.py: 539]
-05/10 16:29:19 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:29:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:29:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:29:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046036m	[env.py: 870]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70457748  0.84556131  0.04603576] yaw=-168.7deg	[env.py: 1019]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93082947  0.47619335  0.04603576] yaw=182.2deg	[env.py: 1019]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67813398  0.72069999  0.04603576] yaw=-169.1deg	[env.py: 1019]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.846, 0.046)	[env.py: 1079]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
-05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:29:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:29:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 82.071[deg]	[grasp_sample.py: 539]
-05/10 16:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:29:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:29:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.213[deg]	[grasp_sample.py: 539]
-05/10 16:29:41 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:29:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:29:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:29:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038540m	[env.py: 870]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7607886   0.27304559  0.03854009] yaw=176.0deg	[env.py: 1019]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94789648  0.18629998  0.03854009] yaw=154.5deg	[env.py: 1019]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82501117  0.05040355  0.03854009] yaw=146.3deg	[env.py: 1019]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms	[env.py: 1075]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.273, 0.039)	[env.py: 1079]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
-05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:29:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:29:44 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:29:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:29:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:29:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:29:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:29:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:29:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 81.801[deg]	[grasp_sample.py: 539]
-05/10 16:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:29:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:29:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:29:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:30:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:28 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:30:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:30:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:30:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:30:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:30:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:30:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:31:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:31:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:31:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.85s (batch: 4.32s, save: 8.53s)	[pipeline.py: 300]
-05/10 16:31:04 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
-  episode_total: mean=192.29s, total=192.29s, count=1, min=192291.6ms, max=192291.6ms
-  sensor_polling: mean=487.3ms, total=146.18s, count=300, min=451.8ms, max=877.0ms
-  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8529.1ms, max=8529.1ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.5ms, max=33.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.5ms, max=4316.5ms
-  task_sampling: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
-  task_specific_sample: mean=626.3ms, total=626.3ms, count=1, min=626.3ms, max=626.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:31:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:31:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053351m	[env.py: 870]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00603416  1.17639771  0.05335137] yaw=-142.6deg	[env.py: 1019]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82739183  0.05531599  0.05335137] yaw=147.9deg	[env.py: 1019]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98438393  0.76016419  0.05335137] yaw=-161.0deg	[env.py: 1019]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 1.176, 0.053)	[env.py: 1079]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:31:06 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:31:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:31:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:31:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:31:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:31:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.628s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:31:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 95.222[deg]	[grasp_sample.py: 539]
-05/10 16:31:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:31:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:31:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:31:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:31:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:31:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:31:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022734m	[env.py: 870]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:31:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69013274  0.54954135  0.02273446] yaw=-180.8deg	[env.py: 1019]
-05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83007082  1.1099447   0.02273446] yaw=-144.6deg	[env.py: 1019]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.7ms, total=328.7ms	[env.py: 1075]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.550, 0.023)	[env.py: 1079]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg	[env.py: 1082]
-05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:31:11 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:31:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:31:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:31:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:31:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:31:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.530[m] 82.979[deg]	[grasp_sample.py: 539]
-05/10 16:31:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:31:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:31:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:31:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:31:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:31:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:31:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.662s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:31:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.338[deg]	[grasp_sample.py: 539]
-05/10 16:31:40 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:31:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:31:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087066m	[env.py: 870]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84669373  0.45903207  0.08706636] yaw=179.1deg	[env.py: 1019]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94923896  0.4436376   0.08706636] yaw=177.4deg	[env.py: 1019]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68722737  0.10985743  0.08706636] yaw=169.2deg	[env.py: 1019]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms	[env.py: 1075]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.459, 0.087)	[env.py: 1079]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg	[env.py: 1082]
-05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:31:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:31:43 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:31:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:31:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:31:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:31:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:31:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:31:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 97.445[deg]	[grasp_sample.py: 539]
-05/10 16:31:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:31:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:31:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:31:54 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:32:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:32:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:32:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:32:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:32:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:32:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:32:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:32:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:32:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:32:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:32:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.81s (batch: 3.95s, save: 10.85s)	[pipeline.py: 300]
-05/10 16:32:31 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.44s:
-  episode_total: mean=97.06s, total=291.19s, count=3, min=3428.9ms, max=190505.8ms
-  sensor_polling: mean=480.9ms, total=221.22s, count=460, min=442.9ms, max=893.1ms
-  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.3ms, max=10850.3ms
-  physics_step: mean=22.4ms, total=10.32s, count=460, min=15.8ms, max=37.0ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.9ms, max=3954.9ms
-  task_sampling: mean=478.7ms, total=1.44s, count=3, min=369.4ms, max=602.2ms
-  task_specific_sample: mean=475.2ms, total=1.43s, count=3, min=366.1ms, max=598.4ms
-  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.6ms
-  mj_forward_sync: mean=456.7us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:32:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:32:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:32:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098563m	[env.py: 870]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73175932  0.88425775  0.09856334] yaw=-166.1deg	[env.py: 1019]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03302526  1.05348668  0.09856334] yaw=-131.0deg	[env.py: 1019]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90752143  1.18015615  0.09856334] yaw=-147.1deg	[env.py: 1019]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:32:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms	[env.py: 1075]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.884, 0.099)	[env.py: 1079]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
-05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:32:33 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:32:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:32:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:32:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:32:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:32:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.073s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:32:36 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.690[m] 99.562[deg]	[grasp_sample.py: 539]
-05/10 16:32:37 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:32:37 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 16:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:32:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024562m	[env.py: 870]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14410645  1.15942438  0.02456151] yaw=-123.8deg	[env.py: 1019]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78942225  0.76124507  0.02456151] yaw=-167.4deg	[env.py: 1019]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89079681  0.99996986  0.02456151] yaw=-144.0deg	[env.py: 1019]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.6ms	[env.py: 1075]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.159, 0.025)	[env.py: 1079]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg	[env.py: 1082]
-05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:32:40 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:32:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:32:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 89.426[deg]	[grasp_sample.py: 539]
-05/10 16:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:32:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006131m	[env.py: 870]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8884785   0.10331304  0.00613069] yaw=159.0deg	[env.py: 1019]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86344759  0.85633459  0.00613069] yaw=-159.6deg	[env.py: 1019]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73553633  0.59103743  0.00613069] yaw=-169.9deg	[env.py: 1019]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms	[env.py: 1075]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.103, 0.006)	[env.py: 1079]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg	[env.py: 1082]
-05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:32:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:32:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:32:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:32:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:32:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:32:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:32:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 95.974[deg]	[grasp_sample.py: 539]
-05/10 16:32:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:32:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:32:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:32:56 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:32:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:32:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:33:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:33:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:33:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.23s (batch: 5.74s, save: 9.49s)	[pipeline.py: 300]
-05/10 16:33:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.05s:
-  episode_total: mean=185.59s, total=371.18s, count=2, min=162157.6ms, max=209022.8ms
-  sensor_polling: mean=488.1ms, total=285.53s, count=585, min=456.1ms, max=896.9ms
-  physics_step: mean=23.5ms, total=13.73s, count=585, min=16.4ms, max=73.1ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9490.9ms, max=9490.9ms
-  save_batch_prep: mean=5.74s, total=5.74s, count=1, min=5736.0ms, max=5736.0ms
-  task_sampling: mean=526.7ms, total=1.05s, count=2, min=451.6ms, max=601.8ms
-  task_specific_sample: mean=522.6ms, total=1.05s, count=2, min=447.1ms, max=598.1ms
-  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
-  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:33:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:33:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:33:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:33:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:33:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:33:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:33:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020172m	[env.py: 870]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:33:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83671046  0.766323    0.02017168] yaw=-155.3deg	[env.py: 1019]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72627142  0.51052438  0.02017168] yaw=-185.7deg	[env.py: 1019]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.8ms	[env.py: 1075]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.766, 0.020)	[env.py: 1079]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
-05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:33:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:33:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:33:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:33:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.557[deg]	[grasp_sample.py: 539]
-05/10 16:33:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:34:02 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:34:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:34:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:34:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:34:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:34:30 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:34:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:34:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:34:40 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:34:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:34:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:34:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.41s (batch: 4.87s, save: 10.54s)	[pipeline.py: 300]
-05/10 16:34:46 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
-  episode_total: mean=109.27s, total=218.53s, count=2, min=3258.6ms, max=215276.3ms
-  sensor_polling: mean=529.1ms, total=158.72s, count=300, min=455.5ms, max=923.6ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.8ms, max=69.1ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4871.6ms, max=4871.6ms
-  task_sampling: mean=516.3ms, total=1.03s, count=2, min=428.5ms, max=604.1ms
-  task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=424.3ms, max=600.9ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=452.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:34:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:34:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:34:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008207m	[env.py: 870]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91648021  0.77959016  0.00820717] yaw=-162.0deg	[env.py: 1019]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87001708  0.99432572  0.00820717] yaw=-152.0deg	[env.py: 1019]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80652679  0.72421969  0.00820717] yaw=-161.9deg	[env.py: 1019]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.780, 0.008)	[env.py: 1079]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
-05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:34:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:34:48 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:34:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:34:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:34:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:34:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:34:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 93.039[deg]	[grasp_sample.py: 539]
-05/10 16:34:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:34:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:34:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:35:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:35:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:35:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:35:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:35:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:35:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.06s (batch: 4.48s, save: 8.58s)	[pipeline.py: 300]
-05/10 16:35:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.87s:
-  episode_total: mean=133.31s, total=533.25s, count=4, min=3236.5ms, max=214530.0ms
-  sensor_polling: mean=503.3ms, total=416.76s, count=828, min=433.8ms, max=1000.1ms
-  physics_step: mean=24.2ms, total=20.03s, count=828, min=15.8ms, max=98.2ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.4ms, max=8580.4ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.0ms, max=4483.0ms
-  task_sampling: mean=468.2ms, total=1.87s, count=4, min=438.8ms, max=483.6ms
-  task_specific_sample: mean=464.7ms, total=1.86s, count=4, min=435.5ms, max=479.3ms
-  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.2ms, max=1.4ms
-  mj_forward_sync: mean=464.3us, total=1.9ms, count=4, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:35:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:35:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:35:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m	[env.py: 870]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93857913  0.98534605  0.04381894] yaw=-150.8deg	[env.py: 1019]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84877402  0.52257774  0.04381894] yaw=-183.6deg	[env.py: 1019]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1872983   1.10851821  0.04381894] yaw=-139.0deg	[env.py: 1019]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms	[env.py: 1075]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.985, 0.044)	[env.py: 1079]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
-05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:35:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:35:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:35:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:35:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.693s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:35:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.544[m] 88.557[deg]	[grasp_sample.py: 539]
-05/10 16:35:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:35:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:35:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:35:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:35:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:35:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:35:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:36:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:36:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:36:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:36:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:36:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:36:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:36:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:36:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.41s (batch: 4.50s, save: 11.91s)	[pipeline.py: 300]
-05/10 16:36:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.52s:
-  episode_total: mean=75.87s, total=227.61s, count=3, min=4046.0ms, max=218683.1ms
-  sensor_polling: mean=542.5ms, total=162.74s, count=300, min=450.0ms, max=1042.2ms
-  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.7ms, max=11906.7ms
-  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.1ms, max=162.9ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.4ms, max=4500.4ms
-  task_sampling: mean=506.0ms, total=1.52s, count=3, min=455.0ms, max=540.7ms
-  task_specific_sample: mean=502.8ms, total=1.51s, count=3, min=452.1ms, max=537.8ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=458.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:36:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:36:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:36:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:36:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073825m	[env.py: 870]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90864735  0.22478142  0.07382458] yaw=170.1deg	[env.py: 1019]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74669891  0.21978485  0.07382458] yaw=171.7deg	[env.py: 1019]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0136315   0.83607632  0.07382458] yaw=-152.6deg	[env.py: 1019]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms	[env.py: 1075]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.225, 0.074)	[env.py: 1079]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
-05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:36:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:36:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:36:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.404[m] 98.331[deg]	[grasp_sample.py: 539]
-05/10 16:36:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:36:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:36:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:36:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:36:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:36:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:36:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:36:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:36:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.04s (batch: 4.64s, save: 10.40s)	[pipeline.py: 300]
-05/10 16:36:50 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
-  episode_total: mean=215.64s, total=215.64s, count=1, min=215642.0ms, max=215642.0ms
-  sensor_polling: mean=526.6ms, total=157.97s, count=300, min=444.7ms, max=919.2ms
-  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10402.6ms, max=10402.6ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.7ms, max=102.4ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.8ms, max=4641.8ms
-  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
-  task_specific_sample: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=585.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:36:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:36:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000285m	[env.py: 870]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.92559462e-01  9.56818635e-02  2.84902172e-04] yaw=164.3deg	[env.py: 1019]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.08635840e-01  1.23819855e-01  2.84902172e-04] yaw=160.4deg	[env.py: 1019]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.25366438e-01  5.24402946e-01  2.84902172e-04] yaw=-179.9deg	[env.py: 1019]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms	[env.py: 1075]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.096, 0.000)	[env.py: 1079]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
-05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:36:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:36:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:36:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:36:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.658[m] 92.845[deg]	[grasp_sample.py: 539]
-05/10 16:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:36:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:36:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:37:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:37:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:37:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:37:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:38:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:38:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:38:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:38:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:38:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:38:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:38:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.88s (batch: 4.24s, save: 9.64s)	[pipeline.py: 300]
-05/10 16:38:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
-  episode_total: mean=216.66s, total=216.66s, count=1, min=216664.8ms, max=216664.8ms
-  sensor_polling: mean=543.3ms, total=162.99s, count=300, min=454.8ms, max=1049.8ms
-  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.3ms, max=9635.3ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.6ms, max=107.7ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4241.1ms, max=4241.1ms
-  task_sampling: mean=463.6ms, total=463.6ms, count=1, min=463.6ms, max=463.6ms
-  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=424.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:38:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:38:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059077m	[env.py: 870]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96044894  0.13854304  0.05907726] yaw=159.7deg	[env.py: 1019]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8092134   0.23288278  0.05907726] yaw=165.7deg	[env.py: 1019]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65402102  0.63854977  0.05907726] yaw=-167.3deg	[env.py: 1019]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.6ms	[env.py: 1075]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.139, 0.059)	[env.py: 1079]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
-05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
-05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:38:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:38:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:38:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:38:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:38:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:38:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 83.896[deg]	[grasp_sample.py: 539]
-05/10 16:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:38:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:38:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:38:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:38:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:38:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:38:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:38:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:38:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:38:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]	[grasp_sample.py: 539]
-05/10 16:38:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:38:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:38:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:38:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.90s (batch: 4.17s, save: 8.73s)	[pipeline.py: 300]
-05/10 16:38:45 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=206.52s, total=206.52s, count=1, min=206517.8ms, max=206517.8ms
-  sensor_polling: mean=525.9ms, total=157.76s, count=300, min=437.1ms, max=1033.0ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8727.0ms, max=8727.0ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.5ms, max=64.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.9ms, max=4169.9ms
-  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
-  task_specific_sample: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:38:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:38:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:38:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:38:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:38:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]	[grasp_sample.py: 539]
-05/10 16:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:38:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:38:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:38:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087057m	[env.py: 870]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03185565  0.12402814  0.08705666] yaw=150.6deg	[env.py: 1019]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87424363  0.23141484  0.08705666] yaw=163.9deg	[env.py: 1019]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10707826  0.96938523  0.08705666] yaw=-134.9deg	[env.py: 1019]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms	[env.py: 1075]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.032, 0.124, 0.087)	[env.py: 1079]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
-05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:38:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:38:47 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:38:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:38:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:38:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:38:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:38:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:38:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:38:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:38:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.321[m] 91.371[deg]	[grasp_sample.py: 539]
-05/10 16:38:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:38:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:38:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:38:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:38:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:38:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:38:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:38:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:38:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:38:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]	[grasp_sample.py: 539]
-05/10 16:39:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:39:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:39:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:39:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:39:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 16:39:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:39:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.51s:
-  episode_total: mean=172.24s, total=172.24s, count=1, min=172241.0ms, max=172241.0ms
-  sensor_polling: mean=532.7ms, total=120.40s, count=226, min=444.5ms, max=1037.2ms
-  physics_step: mean=26.1ms, total=5.90s, count=226, min=13.3ms, max=87.0ms
-  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
-  task_specific_sample: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=434.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:39:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:39:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:39:19 INFO: [Worker 0] Worker 0 completed house 1: 6/8 successful episodes	[pipeline.py: 1323]
-05/10 16:39:19 INFO: [Worker 0] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=4970.21s
-  House averages:
-  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
-  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
-  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
-  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
-  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
-  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
-  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 16:39:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 16:39:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4970.21s
-  Worker averages:
-  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
-  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
-  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
-  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
-  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
-  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
-  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 16:39:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:39:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 16:39:22 INFO: Success count: 6, Total count: 8	[pipeline.py: 1491]
-05/10 16:39:22 INFO: Success rate: 75.00%	[pipeline.py: 1492]
-05/10 16:39:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:39:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:39:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:39:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:40:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:40:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:40:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:40:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:40:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:40:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:40:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:40:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.516[deg]	[grasp_sample.py: 539]
-05/10 16:40:33 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:40:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:40:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:40:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:40:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:40:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:40:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:40:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041345m	[env.py: 870]
-05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:40:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85176584  0.68373566  0.04134539] yaw=-157.9deg	[env.py: 1019]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15906306  0.99968966  0.04134539] yaw=-139.8deg	[env.py: 1019]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68678011  0.18726651  0.04134539] yaw=162.8deg	[env.py: 1019]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms	[env.py: 1075]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.684, 0.041)	[env.py: 1079]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
-05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:40:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:40:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:40:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:40:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:40:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:40:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:40:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:40:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.83s (batch: 4.31s, save: 9.52s)	[pipeline.py: 300]
-05/10 16:40:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
-  episode_total: mean=224.47s, total=224.47s, count=1, min=224474.0ms, max=224474.0ms
-  sensor_polling: mean=511.0ms, total=153.30s, count=300, min=437.9ms, max=897.6ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9523.6ms, max=9523.6ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.2ms, max=64.3ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.3ms, max=4310.3ms
-  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
-  task_specific_sample: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:40:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:40:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 88.317[deg]	[grasp_sample.py: 539]
-05/10 16:40:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:40:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:40:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:40:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:40:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:40:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:40:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:40:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:40:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045059m	[env.py: 870]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:40:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00141628  0.81506613  0.04505875] yaw=-163.7deg	[env.py: 1019]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70632328  0.59303034  0.04505875] yaw=-184.2deg	[env.py: 1019]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06203591  1.08307883  0.04505875] yaw=-133.3deg	[env.py: 1019]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:40:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms	[env.py: 1075]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.815, 0.045)	[env.py: 1079]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
-05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:40:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:40:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:40:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.195s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:40:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:40:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.321[m] 78.504[deg]	[grasp_sample.py: 539]
-05/10 16:40:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:40:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:40:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:40:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:40:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:40:52 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.956s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:40:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.025[m] 3.367[deg]	[grasp_sample.py: 539]
-05/10 16:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:40:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:40:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:40:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:41:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:41:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:41:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:41:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:41:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:41:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:41:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:41:33 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.689s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:41:33 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.299[deg]	[grasp_sample.py: 539]
-05/10 16:41:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:41:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:41:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:42:15 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:42:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:42:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:42:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:42:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:42:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:42:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.83s, save: 11.54s)	[pipeline.py: 300]
-05/10 16:42:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=250.00s, total=250.00s, count=1, min=249998.5ms, max=249998.5ms
-  sensor_polling: mean=514.7ms, total=154.40s, count=300, min=451.2ms, max=806.9ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11542.9ms, max=11542.9ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=14.4ms, max=110.1ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4833.6ms, max=4833.6ms
-  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
-  task_specific_sample: mean=436.7ms, total=436.7ms, count=1, min=436.7ms, max=436.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=417.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:42:58 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:42:58 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:42:58 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
-05/10 16:42:58 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5383.37s
-  House averages:
-  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
-  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
-  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
-  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
-  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
-  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
-  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 16:42:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 16:42:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5383.37s
-  Worker averages:
-  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
-  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
-  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
-  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
-  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
-  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
-  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 16:43:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 16:43:01 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
-05/10 16:43:01 INFO: Success rate: 91.67%	[pipeline.py: 1492]
-05/10 16:43:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:43:12 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:43:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:43:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:43:37 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 16:43:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:43:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:43:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:43:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:43:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:43:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.20s (batch: 3.82s, save: 9.38s)	[pipeline.py: 300]
-05/10 16:43:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
-  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.8ms, max=193402.8ms
-  sensor_polling: mean=500.3ms, total=142.08s, count=284, min=445.4ms, max=998.5ms
-  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9380.3ms, max=9380.3ms
-  physics_step: mean=23.8ms, total=6.76s, count=284, min=18.9ms, max=56.1ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3815.2ms, max=3815.2ms
-  task_sampling: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
-  task_specific_sample: mean=511.5ms, total=511.5ms, count=1, min=511.5ms, max=511.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=533.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:43:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:43:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 3.97s, save: 10.98s)	[pipeline.py: 300]
-05/10 16:43:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:43:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:43:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:43:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:43:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:43:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:43:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067842m	[env.py: 870]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:43:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.15s:
-  episode_total: mean=163.19s, total=326.38s, count=2, min=127269.5ms, max=199110.8ms
-  sensor_polling: mean=500.1ms, total=247.07s, count=494, min=431.0ms, max=1005.3ms
-  physics_step: mean=23.4ms, total=11.54s, count=494, min=18.2ms, max=72.8ms
-  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.6ms, max=10976.6ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.8ms, max=3968.8ms
-  task_sampling: mean=574.1ms, total=1.15s, count=2, min=534.7ms, max=613.4ms
-  task_specific_sample: mean=570.3ms, total=1.14s, count=2, min=531.2ms, max=609.5ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.8ms
-  mj_forward_sync: mean=475.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73205294  0.98727887  0.06784189] yaw=-151.3deg	[env.py: 1019]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8019243   0.05748398  0.06784189] yaw=164.8deg	[env.py: 1019]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65465169  0.49916039  0.06784189] yaw=-172.0deg	[env.py: 1019]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.4ms, total=383.5ms	[env.py: 1075]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.987, 0.068)	[env.py: 1079]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
-05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
-05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:43:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:43:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:43:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:43:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:43:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:43:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:43:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:43:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:43:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:43:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:43:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:43:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:43:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076468m	[env.py: 870]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:43:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73852368  0.08414553  0.07646764] yaw=146.8deg	[env.py: 1019]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75229438  0.04970072  0.07646764] yaw=157.4deg	[env.py: 1019]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79743098  0.1083238   0.07646764] yaw=159.9deg	[env.py: 1019]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:43:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms	[env.py: 1075]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.084, 0.076)	[env.py: 1079]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg	[env.py: 1082]
-05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:43:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:43:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:43:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:43:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:43:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:43:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:43:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.858s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:43:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.655[m] 100.476[deg]	[grasp_sample.py: 539]
-05/10 16:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:43:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.773s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:43:59 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.680[m] 87.312[deg]	[grasp_sample.py: 539]
-05/10 16:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:44:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:44:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:44:01 INFO: [Worker 0] Worker 0 completed house 1: 8/10 successful episodes	[pipeline.py: 1323]
-05/10 16:44:01 INFO: [Worker 0] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=5436.15s
-  House averages:
-  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
-  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
-  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
-  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
-  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
-  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
-  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 16:44:01 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 16:44:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5436.15s
-  Worker averages:
-  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
-  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
-  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
-  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
-  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
-  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
-  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 16:44:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 16:44:03 INFO: Success count: 8, Total count: 10	[pipeline.py: 1491]
-05/10 16:44:03 INFO: Success rate: 80.00%	[pipeline.py: 1492]
-05/10 16:45:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:45:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:45:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:46:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:46:52 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:46:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:46:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:47:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:47:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:47:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.04s (batch: 4.77s, save: 8.27s)	[pipeline.py: 300]
-05/10 16:47:06 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.74s:
-  episode_total: mean=192.61s, total=192.61s, count=1, min=192606.6ms, max=192606.6ms
-  sensor_polling: mean=467.2ms, total=140.17s, count=300, min=402.3ms, max=959.9ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.6ms, max=8273.6ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=14.1ms, max=49.9ms
-  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4769.0ms, max=4769.0ms
-  task_sampling: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
-  task_specific_sample: mean=733.0ms, total=733.0ms, count=1, min=733.0ms, max=733.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=388.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:47:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:47:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:47:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:47:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:47:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032079m	[env.py: 870]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82303894  0.95346006  0.0320795 ] yaw=-162.4deg	[env.py: 1019]
-05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70354347  0.79384768  0.0320795 ] yaw=-161.5deg	[env.py: 1019]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83626108  0.88553767  0.0320795 ] yaw=-165.6deg	[env.py: 1019]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.9ms, total=254.9ms	[env.py: 1075]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.953, 0.032)	[env.py: 1079]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
-05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:47:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:47:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:47:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:47:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:47:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.604[m] 87.373[deg]	[grasp_sample.py: 539]
-05/10 16:47:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:47:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:47:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:48:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:48:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:48:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:49:42 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:50:07 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
-05/10 16:50:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:50:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:50:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:50:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
-05/10 16:50:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.21s (batch: 3.97s, save: 9.24s)	[pipeline.py: 300]
-05/10 16:50:21 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
-  episode_total: mean=193.22s, total=193.22s, count=1, min=193224.1ms, max=193224.1ms
-  sensor_polling: mean=469.1ms, total=140.72s, count=300, min=407.9ms, max=1029.1ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.8ms, max=9238.8ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.1ms, max=60.8ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.9ms, max=3972.9ms
-  task_sampling: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
-  task_specific_sample: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=378.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:50:22 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:50:22 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
-05/10 16:50:22 INFO: [Worker 0] Worker 0 completed house 1: 13/16 successful episodes	[pipeline.py: 1323]
-05/10 16:50:22 INFO: [Worker 0] [PROFILE] House 1 complete: 13/16 successful, 16 episodes, total_time=6205.07s
-  House averages:
-  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
-  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
-  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
-  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
-  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
-  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
-  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 16:50:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 16:50:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6205.07s
-  Worker averages:
-  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
-  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
-  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
-  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
-  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
-  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
-  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 16:50:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 16:50:25 INFO: Success count: 13, Total count: 16	[pipeline.py: 1491]
-05/10 16:50:25 INFO: Success rate: 81.25%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_003/shard_1_of_4.log b/fridge_7/chunk_003/shard_1_of_4.log
deleted file mode 100644
index 03479c8f32a458c4fffc99a2b70325c1546fe16d..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_003/shard_1_of_4.log
+++ /dev/null
@@ -1,1917 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
-  shard=1/4  seed=20301  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:53:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:53:51 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:53:51 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x77b126b02810>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20301,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:53:51 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:53:51 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 131602738908688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 131602738908688 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 131602738908688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 131602738908688 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 131602742735312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131602742735312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131602742737424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131602742737424 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131602742737424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131602742737424 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131602742735312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131602742735312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131602738939472 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131602738939472 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131602738944016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131602738944016 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 131602738944016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131602738944016 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131602738939472 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131602738939472 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6297d1515e50 at 0x77b126efb510>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6297d15175e0 at 0x77b126955790>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6297d15175e0 at 0x77b126e8cb50>
-[05/10 15:53:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 15:53:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:53:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:53:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073915m
-[05/10 15:53:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:53:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:53:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78839704  0.16034585  0.07391536] yaw=169.5deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89913076  0.09778134  0.07391536] yaw=159.0deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.1ms, retries=422.8ms, total=443.9ms
-[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.160, 0.074)
-[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.969m
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:53:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.181s
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 86.236[deg]
-[05/10 15:54:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:56:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:56:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:56:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps
-[05/10 15:56:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True
-[05/10 15:56:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.528[deg]
-[05/10 15:56:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 15:56:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:56:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:56:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 15:56:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:56:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:56:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047529m
-[05/10 15:56:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:56:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:56:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:56:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0103787   0.14147697  0.04752874] yaw=147.0deg
-[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:56:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67005513  0.68408673  0.04752874] yaw=-173.2deg
-[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63464432  0.4488523   0.04752874] yaw=186.7deg
-[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:56:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:56:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms
-[05/10 15:56:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.141, 0.048)
-[05/10 15:56:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.0 deg
-[05/10 15:56:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:56:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:56:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:56:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 15:56:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:56:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:56:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 15:56:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True
-[05/10 15:56:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.317[m] 89.231[deg]
-[05/10 15:56:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:56:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:56:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:58:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:58:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:58:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:58:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:58:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:58:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:58:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:58:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 84 non-colliding grasps
-[05/10 15:58:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.427s, found feasible grasp: True
-[05/10 15:58:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.843[deg]
-[05/10 15:58:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 15:58:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:58:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:58:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 84 non-colliding grasps
-[05/10 15:58:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.433s, found feasible grasp: True
-[05/10 15:58:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.847[deg]
-[05/10 15:58:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10
-[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 15:58:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:58:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:58:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps
-[05/10 15:58:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.578s, found feasible grasp: True
-[05/10 15:58:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.852[deg]
-[05/10 15:58:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:58:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:58:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:58:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:58:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:58:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:59:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 15:59:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False
-[05/10 15:59:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=False episode_total=4.82s:
-  episode_total: mean=173.04s, total=346.07s, count=2, min=162915.0ms, max=183158.0ms
-  sensor_polling: mean=459.9ms, total=231.79s, count=504, min=387.6ms, max=767.3ms
-  physics_step: mean=21.7ms, total=10.95s, count=504, min=12.1ms, max=52.3ms
-  task_sampling: mean=2.41s, total=4.82s, count=2, min=408.5ms, max=4414.0ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  task_specific_sample: mean=561.6ms, total=1.12s, count=2, min=405.7ms, max=717.4ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=471.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:59:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:59:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:59:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 15:59:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:59:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:59:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086876m
-[05/10 15:59:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:59:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:59:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63535749  0.48968607  0.08687604] yaw=-188.4deg
-[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95212852  0.84260933  0.08687604] yaw=-160.5deg
-[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96779893  1.26754875  0.08687604] yaw=-130.9deg
-[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms
-[05/10 15:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.490, 0.087)
-[05/10 15:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.4 deg
-[05/10 15:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 15:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/10 15:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 15:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True
-[05/10 15:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 94.196[deg]
-[05/10 15:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:00:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:00:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:02:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 16:02:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:02:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:02:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:02:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 16:02:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:02:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.76s (batch: 5.03s, save: 8.74s)
-[05/10 16:02:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
-  episode_total: mean=183.39s, total=183.39s, count=1, min=183392.8ms, max=183392.8ms
-  sensor_polling: mean=447.9ms, total=134.36s, count=300, min=381.0ms, max=851.3ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.2ms, max=8735.2ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.5ms, max=46.7ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5027.5ms, max=5027.5ms
-  task_sampling: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
-  task_specific_sample: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:02:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:02:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:02:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 16:02:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:02:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:02:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023268m
-[05/10 16:02:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:02:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:02:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:02:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093583  1.12033653  0.02326751] yaw=-125.2deg
-[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:02:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87603599  0.51231362  0.02326751] yaw=-186.5deg
-[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93977958  0.28282892  0.02326751] yaw=158.1deg
-[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:02:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:02:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=114.1ms, total=114.1ms
-[05/10 16:02:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.120, 0.023)
-[05/10 16:02:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg
-[05/10 16:02:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:02:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 16:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 16:02:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:02:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:02:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 16:02:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True
-[05/10 16:02:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.457[m] 98.062[deg]
-[05/10 16:02:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:02:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:02:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:05:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:05:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:05:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps
-[05/10 16:05:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.710s, found feasible grasp: True
-[05/10 16:05:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.103[m] 1.690[deg]
-[05/10 16:05:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:05:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:05:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:05:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:05:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:05:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:05:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:05:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 16:05:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:05:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:05:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053166m
-[05/10 16:05:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:05:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:05:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:05:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82456827  0.32426179  0.05316647] yaw=170.0deg
-[05/10 16:05:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:05:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95649813  1.25746543  0.05316647] yaw=-132.9deg
-[05/10 16:05:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:05:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87786105  0.39668181  0.05316647] yaw=184.9deg
-[05/10 16:05:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:05:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:05:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.0ms, total=196.1ms
-[05/10 16:05:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.324, 0.053)
-[05/10 16:05:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
-[05/10 16:05:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/10 16:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:05:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:05:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 16:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 16:05:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:05:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:05:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 16:05:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True
-[05/10 16:05:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.432[m] 88.458[deg]
-[05/10 16:05:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:05:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:05:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:08:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:08:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:08:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:08:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:09:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:09:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:09:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 17.73s (batch: 5.40s, save: 12.33s)
-[05/10 16:09:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.85s:
-  episode_total: mean=190.74s, total=381.49s, count=2, min=154903.3ms, max=226584.4ms
-  sensor_polling: mean=506.6ms, total=281.66s, count=556, min=397.9ms, max=946.8ms
-  physics_step: mean=25.5ms, total=14.16s, count=556, min=14.0ms, max=74.8ms
-  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12326.7ms, max=12326.7ms
-  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5399.2ms, max=5399.2ms
-  task_sampling: mean=425.7ms, total=851.5ms, count=2, min=362.6ms, max=488.9ms
-  task_specific_sample: mean=421.6ms, total=843.2ms, count=2, min=358.0ms, max=485.2ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.7ms, max=3.1ms
-  mj_forward_sync: mean=580.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:09:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:09:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:09:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 16:09:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:09:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:09:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020984m
-[05/10 16:09:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:09:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:09:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:09:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64850925  0.20567394  0.02098371] yaw=175.3deg
-[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77885999  0.79695431  0.02098371] yaw=-171.4deg
-[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90969762  0.76294588  0.02098371] yaw=-158.0deg
-[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:09:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:09:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms
-[05/10 16:09:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.206, 0.021)
-[05/10 16:09:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg
-[05/10 16:09:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:09:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 16:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 16:09:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:09:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:09:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:09:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.173s, found feasible grasp: True
-[05/10 16:09:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.630[m] 81.530[deg]
-[05/10 16:09:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:12:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:12:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:12:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:12:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:12:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:12:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:12:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.24s (batch: 4.40s, save: 8.83s)
-[05/10 16:12:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.07s, total=212.07s, count=1, min=212067.6ms, max=212067.6ms
-  sensor_polling: mean=520.6ms, total=156.17s, count=300, min=447.3ms, max=935.7ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.2ms, max=8831.2ms
-  physics_step: mean=27.3ms, total=8.20s, count=300, min=15.9ms, max=132.3ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.0ms, max=4404.0ms
-  task_sampling: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms
-  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:12:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:12:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:12:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:12:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:12:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:12:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:12:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/10 16:12:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:12:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:12:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083230m
-[05/10 16:12:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:12:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:12:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:12:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86995707  0.37200679  0.08322995] yaw=175.8deg
-[05/10 16:12:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02365657  1.33294457  0.08322995] yaw=-134.3deg
-[05/10 16:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13155728  1.1543769   0.08322995] yaw=-139.8deg
-[05/10 16:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:12:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:12:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms
-[05/10 16:12:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.372, 0.083)
-[05/10 16:12:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg
-[05/10 16:12:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
-[05/10 16:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:12:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:12:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 16:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 16:12:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:12:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:12:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 16:12:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True
-[05/10 16:12:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.369[m] 88.727[deg]
-[05/10 16:12:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:14:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:14:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:14:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:14:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.132s, found 78 non-colliding grasps
-[05/10 16:14:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.522s, found feasible grasp: True
-[05/10 16:14:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.646[deg]
-[05/10 16:15:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:15:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:15:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:15:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/10 16:15:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:15:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:15:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064119m
-[05/10 16:15:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:15:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:15:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93933415  0.25713024  0.06411899] yaw=158.7deg
-[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:15:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:15:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67401222  0.48816854  0.06411899] yaw=-168.4deg
-[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97974758  1.25713964  0.06411899] yaw=-126.5deg
-[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:15:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:15:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.6ms, total=277.7ms
-[05/10 16:15:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.257, 0.064)
-[05/10 16:15:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
-[05/10 16:15:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:15:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:15:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 16:15:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:15:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:15:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps
-[05/10 16:15:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True
-[05/10 16:15:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 88.824[deg]
-[05/10 16:15:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:15:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:15:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:15:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:16:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:16:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:16:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:16:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:16:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 16:16:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True
-[05/10 16:16:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.512[deg]
-[05/10 16:16:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:16:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:16:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:16:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:16:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:17:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/10 16:17:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.480s, found feasible grasp: True
-[05/10 16:17:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]
-[05/10 16:17:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:17:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:17:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:17:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 16:17:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/10 16:17:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.472s, found feasible grasp: True
-[05/10 16:17:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]
-[05/10 16:17:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 16:17:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:17:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=False episode_total=1.09s:
-  episode_total: mean=144.74s, total=289.48s, count=2, min=135463.7ms, max=154020.2ms
-  sensor_polling: mean=519.1ms, total=214.89s, count=414, min=442.8ms, max=1179.4ms
-  physics_step: mean=25.9ms, total=10.71s, count=414, min=13.3ms, max=75.8ms
-  task_sampling: mean=542.9ms, total=1.09s, count=2, min=520.4ms, max=565.3ms
-  task_specific_sample: mean=539.0ms, total=1.08s, count=2, min=516.4ms, max=561.5ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=496.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:17:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:17:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 16:17:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:17:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:17:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059648m
-[05/10 16:17:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:17:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:17:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89258879  1.13693941  0.0596475 ] yaw=-136.5deg
-[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:17:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77685847  0.40315249  0.0596475 ] yaw=178.8deg
-[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74934075  0.92279278  0.0596475 ] yaw=-165.0deg
-[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:17:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:17:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.5ms, total=95.5ms
-[05/10 16:17:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.137, 0.060)
-[05/10 16:17:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg
-[05/10 16:17:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:17:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 16:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 16:17:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 16:17:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.793s, found feasible grasp: True
-[05/10 16:17:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 88.198[deg]
-[05/10 16:17:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:20:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:20:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 16:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.916s, found feasible grasp: False
-[05/10 16:20:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 16:20:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:20:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 16:20:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:20:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:20:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078665m
-[05/10 16:20:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:20:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:20:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76230967  0.16982757  0.07866528] yaw=171.6deg
-[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9976375   0.75506318  0.07866528] yaw=-149.6deg
-[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79286703  0.69471688  0.07866528] yaw=-155.5deg
-[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:20:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:20:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.2ms, total=512.2ms
-[05/10 16:20:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.170, 0.079)
-[05/10 16:20:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
-[05/10 16:20:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:20:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 16:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s
-[05/10 16:20:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 16:20:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.054s, found feasible grasp: True
-[05/10 16:20:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.560[m] 97.153[deg]
-[05/10 16:20:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:23:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:23:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:23:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:23:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:23:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 16:23:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.460s, found feasible grasp: True
-[05/10 16:23:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.992[deg]
-[05/10 16:23:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:23:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:23:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 16:23:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:23:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:23:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073540m
-[05/10 16:23:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:23:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:23:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86593892  0.30653598  0.07354029] yaw=157.0deg
-[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91058476  0.33824859  0.07354029] yaw=163.7deg
-[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84284844  0.10147941  0.07354029] yaw=154.5deg
-[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:23:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:23:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.2ms
-[05/10 16:23:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.307, 0.074)
-[05/10 16:23:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg
-[05/10 16:23:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:23:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 16:23:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s
-[05/10 16:23:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:23:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:23:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 16:23:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True
-[05/10 16:23:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.398[m] 85.289[deg]
-[05/10 16:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:24:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:24:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:26:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:26:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:26:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:26:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:26:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:26:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:26:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
-[05/10 16:26:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True
-[05/10 16:26:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.253[deg]
-[05/10 16:26:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:26:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:26:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:26:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:26:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:26:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:26:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/10 16:26:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.380s, found feasible grasp: True
-[05/10 16:26:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.044[m] 1.034[deg]
-[05/10 16:26:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:26:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:26:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:26:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:26:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:26:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:27:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:27:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:27:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:27:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:27:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:27:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:27:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.70s (batch: 4.54s, save: 9.16s)
-[05/10 16:27:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.88s:
-  episode_total: mean=202.66s, total=607.98s, count=3, min=181017.1ms, max=237928.0ms
-  sensor_polling: mean=523.5ms, total=469.10s, count=896, min=448.3ms, max=1000.8ms
-  physics_step: mean=26.6ms, total=23.79s, count=896, min=14.0ms, max=72.2ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9155.3ms, max=9155.3ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.9ms, max=4541.9ms
-  task_sampling: mean=625.3ms, total=1.88s, count=3, min=374.2ms, max=903.4ms
-  task_specific_sample: mean=621.7ms, total=1.87s, count=3, min=370.9ms, max=899.4ms
-  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.7ms
-  mj_forward_sync: mean=450.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 16:27:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:27:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:27:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:27:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:27:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:27:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:27:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 16:27:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:27:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:27:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034681m
-[05/10 16:27:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:27:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:27:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82143514  0.86155997  0.03468113] yaw=-167.5deg
-[05/10 16:27:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02534892  0.8238947   0.03468113] yaw=-151.2deg
-[05/10 16:27:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:27:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:27:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.3ms, total=366.3ms
-[05/10 16:27:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.862, 0.035)
-[05/10 16:27:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/10 16:27:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.959m
-[05/10 16:27:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:27:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:27:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:27:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:27:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:27:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 16:27:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 16:27:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:27:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:27:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:27:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True
-[05/10 16:27:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.167[deg]
-[05/10 16:27:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:28:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:28:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:30:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:30:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:30:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:30:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:31:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:31:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:31:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.85s (batch: 4.32s, save: 8.53s)
-[05/10 16:31:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
-  episode_total: mean=192.29s, total=192.29s, count=1, min=192291.6ms, max=192291.6ms
-  sensor_polling: mean=487.3ms, total=146.18s, count=300, min=451.8ms, max=877.0ms
-  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8529.1ms, max=8529.1ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.5ms, max=33.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.5ms, max=4316.5ms
-  task_sampling: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
-  task_specific_sample: mean=626.3ms, total=626.3ms, count=1, min=626.3ms, max=626.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:31:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:31:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 16:31:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:31:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:31:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053351m
-[05/10 16:31:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:31:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:31:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00603416  1.17639771  0.05335137] yaw=-142.6deg
-[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82739183  0.05531599  0.05335137] yaw=147.9deg
-[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98438393  0.76016419  0.05335137] yaw=-161.0deg
-[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:31:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:31:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms
-[05/10 16:31:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.006, 1.176, 0.053)
-[05/10 16:31:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg
-[05/10 16:31:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:31:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 16:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 16:31:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:31:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:31:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:31:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.628s, found feasible grasp: True
-[05/10 16:31:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.580[m] 95.222[deg]
-[05/10 16:31:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:31:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:31:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 16:31:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:31:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:31:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022734m
-[05/10 16:31:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:31:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:31:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69013274  0.54954135  0.02273446] yaw=-180.8deg
-[05/10 16:31:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:31:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83007082  1.1099447   0.02273446] yaw=-144.6deg
-[05/10 16:31:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:31:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:31:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.7ms, total=328.7ms
-[05/10 16:31:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.550, 0.023)
-[05/10 16:31:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg
-[05/10 16:31:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
-[05/10 16:31:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:31:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 16:31:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 16:31:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:31:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:31:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:31:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True
-[05/10 16:31:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.530[m] 82.979[deg]
-[05/10 16:31:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:32:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:34:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:34:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:34:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:34:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:34:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:34:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:34:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.41s (batch: 4.87s, save: 10.54s)
-[05/10 16:34:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
-  episode_total: mean=109.27s, total=218.53s, count=2, min=3258.6ms, max=215276.3ms
-  sensor_polling: mean=529.1ms, total=158.72s, count=300, min=455.5ms, max=923.6ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.8ms, max=69.1ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4871.6ms, max=4871.6ms
-  task_sampling: mean=516.3ms, total=1.03s, count=2, min=428.5ms, max=604.1ms
-  task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=424.3ms, max=600.9ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=452.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:34:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:34:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:34:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 16:34:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:34:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:34:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008207m
-[05/10 16:34:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:34:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:34:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91648021  0.77959016  0.00820717] yaw=-162.0deg
-[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87001708  0.99432572  0.00820717] yaw=-152.0deg
-[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80652679  0.72421969  0.00820717] yaw=-161.9deg
-[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:34:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:34:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms
-[05/10 16:34:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.780, 0.008)
-[05/10 16:34:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
-[05/10 16:34:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:34:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:34:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:34:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 16:34:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.109s
-[05/10 16:34:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:34:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:34:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps
-[05/10 16:34:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True
-[05/10 16:34:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.423[m] 93.039[deg]
-[05/10 16:34:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:35:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:37:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:38:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:38:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:38:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:38:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:38:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:38:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.88s (batch: 4.24s, save: 9.64s)
-[05/10 16:38:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
-  episode_total: mean=216.66s, total=216.66s, count=1, min=216664.8ms, max=216664.8ms
-  sensor_polling: mean=543.3ms, total=162.99s, count=300, min=454.8ms, max=1049.8ms
-  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.3ms, max=9635.3ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.6ms, max=107.7ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4241.1ms, max=4241.1ms
-  task_sampling: mean=463.6ms, total=463.6ms, count=1, min=463.6ms, max=463.6ms
-  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=424.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:38:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:38:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:38:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:38:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:38:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:38:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 16:38:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:38:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:38:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059077m
-[05/10 16:38:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:38:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:38:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96044894  0.13854304  0.05907726] yaw=159.7deg
-[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8092134   0.23288278  0.05907726] yaw=165.7deg
-[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65402102  0.63854977  0.05907726] yaw=-167.3deg
-[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:38:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:38:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.6ms
-[05/10 16:38:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.139, 0.059)
-[05/10 16:38:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
-[05/10 16:38:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
-[05/10 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:38:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 16:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 16:38:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:38:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:38:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 16:38:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True
-[05/10 16:38:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.379[m] 83.896[deg]
-[05/10 16:38:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:39:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:40:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:40:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:40:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:40:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:40:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:40:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps
-[05/10 16:40:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.434s, found feasible grasp: True
-[05/10 16:40:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.516[deg]
-[05/10 16:40:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:40:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:40:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:40:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:40:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:40:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:40:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:40:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 16:40:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:40:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:40:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041345m
-[05/10 16:40:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:40:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:40:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85176584  0.68373566  0.04134539] yaw=-157.9deg
-[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15906306  0.99968966  0.04134539] yaw=-139.8deg
-[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68678011  0.18726651  0.04134539] yaw=162.8deg
-[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:40:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:40:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms
-[05/10 16:40:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.684, 0.041)
-[05/10 16:40:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg
-[05/10 16:40:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
-[05/10 16:40:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:40:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:40:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:40:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:40:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 16:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 16:40:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:40:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:40:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps
-[05/10 16:40:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True
-[05/10 16:40:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.449[m] 88.317[deg]
-[05/10 16:40:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:43:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:43:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:43:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
-[05/10 16:43:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:43:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:43:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:43:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 3.97s, save: 10.98s)
-[05/10 16:43:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.15s:
-  episode_total: mean=163.19s, total=326.38s, count=2, min=127269.5ms, max=199110.8ms
-  sensor_polling: mean=500.1ms, total=247.07s, count=494, min=431.0ms, max=1005.3ms
-  physics_step: mean=23.4ms, total=11.54s, count=494, min=18.2ms, max=72.8ms
-  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.6ms, max=10976.6ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.8ms, max=3968.8ms
-  task_sampling: mean=574.1ms, total=1.15s, count=2, min=534.7ms, max=613.4ms
-  task_specific_sample: mean=570.3ms, total=1.14s, count=2, min=531.2ms, max=609.5ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.8ms
-  mj_forward_sync: mean=475.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:43:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:43:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:43:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:43:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:43:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:43:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/10 16:43:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:43:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:43:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076468m
-[05/10 16:43:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:43:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:43:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:43:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73852368  0.08414553  0.07646764] yaw=146.8deg
-[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75229438  0.04970072  0.07646764] yaw=157.4deg
-[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79743098  0.1083238   0.07646764] yaw=159.9deg
-[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:43:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:43:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms
-[05/10 16:43:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.084, 0.076)
-[05/10 16:43:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg
-[05/10 16:43:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
-[05/10 16:43:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:43:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:43:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:43:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:43:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:43:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 16:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/10 16:43:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:43:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:43:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 16:43:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.858s, found feasible grasp: True
-[05/10 16:43:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.655[m] 100.476[deg]
-[05/10 16:43:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:44:01 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:44:01 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:44:01 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/10 successful episodes
-[05/10 16:44:01 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=5436.15s
-  House averages:
-  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
-  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
-  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
-  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
-  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
-  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
-  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:44:01 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 16:44:01 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5436.15s
-  Worker averages:
-  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
-  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
-  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
-  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
-  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
-  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
-  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
-  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
-  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
-  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
-  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
-  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
-  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
-  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
-  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:44:03 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 16:44:03 INFO pipeline.py:1491] Success count: 8, Total count: 10
-[05/10 16:44:03 INFO pipeline.py:1492] Success rate: 80.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
-==========================================
diff --git a/fridge_7/chunk_003/shard_2_of_4.log b/fridge_7/chunk_003/shard_2_of_4.log
deleted file mode 100644
index 7c230926758a5c660166365c3e2675b0ae59f866..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_003/shard_2_of_4.log
+++ /dev/null
@@ -1,1863 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
-  shard=2/4  seed=20302  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:53:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:53:51 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:53:51 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a3e72a3c150>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20302,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:53:51 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:53:51 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 134408633675088 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134408633675088 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 134408633675088 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134408633675088 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 134408633205072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134408633205072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134408633206288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134408633206288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134408633206288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134408633206288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134408633205072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134408633205072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134408632736400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134408632736400 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134408632735632 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134408632735632 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 134408632735632 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134408632735632 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134408632736400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134408632736400 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c97e7aefd30 at 0x7a3e72f3a8d0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c97e7b1d8d0 at 0x7a3e72f462d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c97e7b1d8d0 at 0x7a3e730cce10>
-[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 15:53:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:53:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:53:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013950m
-[05/10 15:53:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:53:54 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:53:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92499152  0.51050965  0.01395037] yaw=-183.4deg
-[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95806708  0.35654412  0.01395037] yaw=175.6deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02141212  0.90919666  0.01395037] yaw=-152.2deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=54.6ms, retries=334.4ms, total=389.0ms
-[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.511, 0.014)
-[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.4 deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.552s
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True
-[05/10 15:54:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.385[m] 101.940[deg]
-[05/10 15:54:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:55:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:56:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:57:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:57:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 15:57:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:57:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:57:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:57:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.84s (batch: 4.67s, save: 9.17s)
-[05/10 15:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.16s:
-  episode_total: mean=222.93s, total=222.93s, count=1, min=222930.0ms, max=222930.0ms
-  sensor_polling: mean=468.0ms, total=140.41s, count=300, min=402.5ms, max=740.9ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9168.3ms, max=9168.3ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=58.4ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
-  task_sampling: mean=4.16s, total=4.16s, count=1, min=4161.1ms, max=4161.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  task_specific_sample: mean=680.1ms, total=680.1ms, count=1, min=680.1ms, max=680.1ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=578.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=47.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:57:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:57:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:57:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 15:57:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:57:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:57:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069147m
-[05/10 15:57:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:57:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:57:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16174814  1.06115741  0.06914729] yaw=-144.3deg
-[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81210341  0.76659614  0.06914729] yaw=-170.4deg
-[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03028865  1.11454351  0.06914729] yaw=-145.0deg
-[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:57:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:57:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms
-[05/10 15:57:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.061, 0.069)
-[05/10 15:57:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg
-[05/10 15:57:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 15:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 15:57:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True
-[05/10 15:57:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.406[m] 87.452[deg]
-[05/10 15:57:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:58:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:58:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 15:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 15:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 15:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 15:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 15:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 15:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:59:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:59:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:59:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps
-[05/10 15:59:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.190s, found feasible grasp: True
-[05/10 15:59:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.315[deg]
-[05/10 16:00:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:00:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:00:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 16:00:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:00:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:00:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085386m
-[05/10 16:00:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:00:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:00:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05589427  1.10472167  0.08538633] yaw=-131.9deg
-[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71613277  0.79122796  0.08538633] yaw=-151.8deg
-[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01377947  0.97806664  0.08538633] yaw=-153.2deg
-[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:00:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:00:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.2ms
-[05/10 16:00:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.056, 1.105, 0.085)
-[05/10 16:00:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
-[05/10 16:00:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:00:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 16:00:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:00:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:00:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps
-[05/10 16:00:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: True
-[05/10 16:00:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.096[deg]
-[05/10 16:00:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:00:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:01:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:02:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:02:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:02:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:02:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:02:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:02:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:02:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
-[05/10 16:02:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.721s, found feasible grasp: True
-[05/10 16:02:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]
-[05/10 16:02:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:02:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:02:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:02:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:02:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:02:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:02:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:02:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 16:02:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:02:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:02:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030293m
-[05/10 16:02:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:02:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:02:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:02:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:02:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:02:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86286907  0.30276229  0.0302931 ] yaw=176.6deg
-[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08329868  1.06910987  0.0302931 ] yaw=-137.0deg
-[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87923756  0.13175047  0.0302931 ] yaw=168.2deg
-[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:02:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:02:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.4ms, total=298.4ms
-[05/10 16:02:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.303, 0.030)
-[05/10 16:02:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg
-[05/10 16:02:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.858m
-[05/10 16:02:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:02:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:02:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:02:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:02:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:02:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 16:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 16:02:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:02:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:02:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 16:02:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True
-[05/10 16:02:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.468[deg]
-[05/10 16:02:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 16:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:04:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:04:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:04:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/10 16:04:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.452s, found feasible grasp: True
-[05/10 16:04:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.215[deg]
-[05/10 16:04:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 402, in get_action
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:04:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:04:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:04:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 16:04:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:04:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:04:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016339m
-[05/10 16:04:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:04:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:04:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96402366  0.71105387  0.016339  ] yaw=-173.3deg
-[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78562662  1.01733798  0.016339  ] yaw=-151.6deg
-[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61691606  0.45008605  0.016339  ] yaw=188.7deg
-[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:04:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:04:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms
-[05/10 16:04:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.711, 0.016)
-[05/10 16:04:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg
-[05/10 16:04:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.773m
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:04:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:04:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 16:04:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 16:04:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:04:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:04:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:04:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True
-[05/10 16:04:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.361[m] 84.673[deg]
-[05/10 16:04:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:07:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:07:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:07:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 16:07:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 16:07:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:07:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:07:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.09s (batch: 3.57s, save: 8.52s)
-[05/10 16:07:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=2.02s:
-  episode_total: mean=150.62s, total=602.49s, count=4, min=114512.1ms, max=199018.0ms
-  sensor_polling: mean=484.3ms, total=496.88s, count=1026, min=382.2ms, max=1086.5ms
-  physics_step: mean=22.9ms, total=23.47s, count=1026, min=13.5ms, max=77.8ms
-  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8519.3ms, max=8519.3ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.4ms, max=3570.4ms
-  task_sampling: mean=505.3ms, total=2.02s, count=4, min=441.6ms, max=550.3ms
-  task_specific_sample: mean=501.8ms, total=2.01s, count=4, min=438.1ms, max=546.0ms
-  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=423.7us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 16:07:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:07:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:07:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 16:07:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:07:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:07:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008012m
-[05/10 16:07:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:07:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:07:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04043767  1.15785182  0.00801228] yaw=-127.4deg
-[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:07:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226372  0.74286289  0.00801228] yaw=-162.3deg
-[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86058081  0.7330473   0.00801228] yaw=-152.2deg
-[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:07:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:07:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.5ms
-[05/10 16:07:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.040, 1.158, 0.008)
-[05/10 16:07:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg
-[05/10 16:07:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:07:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 16:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 16:07:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:07:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:07:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 16:07:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.791s, found feasible grasp: True
-[05/10 16:07:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.553[m] 85.963[deg]
-[05/10 16:07:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:09:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:10:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:10:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:10:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:10:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:10:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:10:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 16:10:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.516s, found feasible grasp: True
-[05/10 16:10:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.845[deg]
-[05/10 16:10:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:10:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:10:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:10:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 16:10:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:10:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:10:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024879m
-[05/10 16:10:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:10:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:10:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77662835  0.03348251  0.02487855] yaw=160.1deg
-[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7262239   0.32107356  0.02487855] yaw=180.6deg
-[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91694472  1.04422765  0.02487855] yaw=-137.8deg
-[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:10:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:10:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms
-[05/10 16:10:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.033, 0.025)
-[05/10 16:10:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg
-[05/10 16:10:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:10:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:10:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 16:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 16:10:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:10:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:10:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:10:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.984s, found feasible grasp: True
-[05/10 16:10:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 14 (originally 14): w/ 0.557[m] 78.082[deg]
-[05/10 16:10:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:13:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:14:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:14:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 16:14:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:14:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:14:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:14:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.84s (batch: 4.39s, save: 8.45s)
-[05/10 16:14:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
-  episode_total: mean=193.53s, total=387.06s, count=2, min=170400.3ms, max=216658.1ms
-  sensor_polling: mean=534.2ms, total=305.53s, count=572, min=438.8ms, max=1213.2ms
-  physics_step: mean=26.5ms, total=15.18s, count=572, min=16.2ms, max=116.2ms
-  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8445.7ms, max=8445.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.9ms, max=4390.9ms
-  task_sampling: mean=419.7ms, total=839.5ms, count=2, min=403.9ms, max=435.6ms
-  task_specific_sample: mean=416.0ms, total=831.9ms, count=2, min=400.2ms, max=431.7ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms
-  mj_forward_sync: mean=440.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:14:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:14:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:14:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 16:14:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:14:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:14:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040415m
-[05/10 16:14:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:14:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:14:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88845622  0.16469359  0.0404149 ] yaw=159.5deg
-[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.01780578e-01 -5.14398145e-04  4.04149035e-02] yaw=158.0deg
-[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97351063  0.79620422  0.0404149 ] yaw=-157.6deg
-[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:14:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:14:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms
-[05/10 16:14:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.165, 0.040)
-[05/10 16:14:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg
-[05/10 16:14:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:14:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:14:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:14:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 16:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 16:14:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:14:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:14:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 16:14:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
-[05/10 16:14:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.422[m] 83.915[deg]
-[05/10 16:14:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:15:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:16:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:16:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:16:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:16:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:16:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:16:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps
-[05/10 16:16:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.912s, found feasible grasp: True
-[05/10 16:16:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.148[deg]
-[05/10 16:16:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:17:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/10 16:17:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.014s, found feasible grasp: True
-[05/10 16:17:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.766[deg]
-[05/10 16:17:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:17:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:17:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 16:17:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:17:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:17:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070770m
-[05/10 16:17:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:17:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:17:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75914779  0.17393625  0.07076972] yaw=162.7deg
-[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91777318  0.05388592  0.07076972] yaw=158.6deg
-[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86167201  1.18775974  0.07076972] yaw=-147.7deg
-[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:17:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:17:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms
-[05/10 16:17:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.174, 0.071)
-[05/10 16:17:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg
-[05/10 16:17:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:17:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 16:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 16:17:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:17:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.021s, found feasible grasp: True
-[05/10 16:17:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.564[m] 87.634[deg]
-[05/10 16:17:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:20:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:20:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
-[05/10 16:20:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True
-[05/10 16:20:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.306[deg]
-[05/10 16:20:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:20:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:20:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:20:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 16:20:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:20:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:20:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077196m
-[05/10 16:20:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:20:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:20:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90942821  0.49564426  0.07719582] yaw=-175.6deg
-[05/10 16:20:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:20:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95425783  0.1672931   0.07719582] yaw=149.2deg
-[05/10 16:20:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:20:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76981924  0.72782019  0.07719582] yaw=-163.6deg
-[05/10 16:20:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:20:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:20:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.3ms, total=261.3ms
-[05/10 16:20:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.496, 0.077)
-[05/10 16:20:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.6 deg
-[05/10 16:20:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
-[05/10 16:20:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:20:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 16:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 16:20:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 16:20:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True
-[05/10 16:20:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.394[m] 97.959[deg]
-[05/10 16:20:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:23:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:24:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:24:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 16:24:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:24:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:24:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:24:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.02s (batch: 4.69s, save: 11.33s)
-[05/10 16:24:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.67s:
-  episode_total: mean=200.13s, total=600.39s, count=3, min=188567.6ms, max=212845.0ms
-  sensor_polling: mean=525.1ms, total=456.85s, count=870, min=440.9ms, max=1002.4ms
-  physics_step: mean=25.2ms, total=21.92s, count=870, min=15.6ms, max=109.1ms
-  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11327.9ms, max=11327.9ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4692.7ms, max=4692.7ms
-  task_sampling: mean=556.0ms, total=1.67s, count=3, min=514.6ms, max=607.7ms
-  task_specific_sample: mean=552.1ms, total=1.66s, count=3, min=510.8ms, max=604.3ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.6ms, max=2.5ms
-  mj_forward_sync: mean=544.5us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 16:24:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:24:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:24:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 16:24:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:24:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:24:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059099m
-[05/10 16:24:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:24:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:24:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06711343  1.21619197  0.05909856] yaw=-135.8deg
-[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72625719  0.67466175  0.05909856] yaw=-180.2deg
-[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81071773  0.59215573  0.05909856] yaw=-175.6deg
-[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:24:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:24:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.5ms
-[05/10 16:24:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.067, 1.216, 0.059)
-[05/10 16:24:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg
-[05/10 16:24:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:24:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:24:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:24:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 16:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
-[05/10 16:24:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:24:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:24:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
-[05/10 16:24:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.891s, found feasible grasp: True
-[05/10 16:24:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.537[m] 79.409[deg]
-[05/10 16:24:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:26:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:26:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:26:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:26:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:26:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 16:26:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.631s, found feasible grasp: True
-[05/10 16:26:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]
-[05/10 16:26:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:27:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:27:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:27:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:27:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:27:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:27:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
-[05/10 16:27:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True
-[05/10 16:27:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.261[deg]
-[05/10 16:27:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:27:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:27:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:27:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:27:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.60s:
-  episode_total: mean=192.16s, total=192.16s, count=1, min=192158.4ms, max=192158.4ms
-  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=446.8ms, max=895.4ms
-  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.4ms, max=71.0ms
-  task_sampling: mean=595.4ms, total=595.4ms, count=1, min=595.4ms, max=595.4ms
-  task_specific_sample: mean=590.7ms, total=590.7ms, count=1, min=590.7ms, max=590.7ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=622.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:27:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:27:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:27:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 16:27:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:27:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:27:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022706m
-[05/10 16:27:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:27:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:27:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98687091  0.15740173  0.02270557] yaw=161.0deg
-[05/10 16:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:27:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:27:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms
-[05/10 16:27:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.157, 0.023)
-[05/10 16:27:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg
-[05/10 16:27:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:27:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 16:27:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 16:27:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:27:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:27:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:27:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 16:27:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.305[m] 82.211[deg]
-[05/10 16:27:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:28:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:28:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:29:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
-[05/10 16:29:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True
-[05/10 16:29:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.110[deg]
-[05/10 16:29:13 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:29:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:29:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:29:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 16:29:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:29:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:29:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077671m
-[05/10 16:29:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:29:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:29:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75172133  0.88893214  0.07767075] yaw=-164.5deg
-[05/10 16:29:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:29:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88947699  0.65714932  0.07767075] yaw=-172.6deg
-[05/10 16:29:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:29:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:29:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.4ms, total=308.4ms
-[05/10 16:29:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.889, 0.078)
-[05/10 16:29:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg
-[05/10 16:29:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
-[05/10 16:29:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:29:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 16:29:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 16:29:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 16:29:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.644s, found feasible grasp: True
-[05/10 16:29:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.637[m] 89.072[deg]
-[05/10 16:29:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:29:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:29:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 16:29:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:29:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:29:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046036m
-[05/10 16:29:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:29:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:29:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70457748  0.84556131  0.04603576] yaw=-168.7deg
-[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93082947  0.47619335  0.04603576] yaw=182.2deg
-[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67813398  0.72069999  0.04603576] yaw=-169.1deg
-[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:29:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:29:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms
-[05/10 16:29:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.846, 0.046)
-[05/10 16:29:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
-[05/10 16:29:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:29:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 16:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 16:29:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 16:29:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True
-[05/10 16:29:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.610[m] 82.071[deg]
-[05/10 16:29:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:30:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:31:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:32:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:32:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 16:32:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:32:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:32:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:32:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.81s (batch: 3.95s, save: 10.85s)
-[05/10 16:32:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.44s:
-  episode_total: mean=97.06s, total=291.19s, count=3, min=3428.9ms, max=190505.8ms
-  sensor_polling: mean=480.9ms, total=221.22s, count=460, min=442.9ms, max=893.1ms
-  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.3ms, max=10850.3ms
-  physics_step: mean=22.4ms, total=10.32s, count=460, min=15.8ms, max=37.0ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.9ms, max=3954.9ms
-  task_sampling: mean=478.7ms, total=1.44s, count=3, min=369.4ms, max=602.2ms
-  task_specific_sample: mean=475.2ms, total=1.43s, count=3, min=366.1ms, max=598.4ms
-  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.6ms
-  mj_forward_sync: mean=456.7us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 16:32:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:32:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 16:32:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:32:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:32:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098563m
-[05/10 16:32:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:32:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:32:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73175932  0.88425775  0.09856334] yaw=-166.1deg
-[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03302526  1.05348668  0.09856334] yaw=-131.0deg
-[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90752143  1.18015615  0.09856334] yaw=-147.1deg
-[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:32:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:32:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms
-[05/10 16:32:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.884, 0.099)
-[05/10 16:32:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg
-[05/10 16:32:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:32:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 16:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 16:32:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:32:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:32:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:32:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.073s, found feasible grasp: True
-[05/10 16:32:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.690[m] 99.562[deg]
-[05/10 16:32:37 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:32:37 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
-[05/10 16:32:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:32:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 16:32:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:32:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:32:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024562m
-[05/10 16:32:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:32:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:32:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14410645  1.15942438  0.02456151] yaw=-123.8deg
-[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78942225  0.76124507  0.02456151] yaw=-167.4deg
-[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89079681  0.99996986  0.02456151] yaw=-144.0deg
-[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:32:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:32:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.6ms
-[05/10 16:32:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.159, 0.025)
-[05/10 16:32:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg
-[05/10 16:32:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:32:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 16:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 16:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:32:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 16:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: True
-[05/10 16:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 89.426[deg]
-[05/10 16:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 16:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006131m
-[05/10 16:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8884785   0.10331304  0.00613069] yaw=159.0deg
-[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86344759  0.85633459  0.00613069] yaw=-159.6deg
-[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73553633  0.59103743  0.00613069] yaw=-169.9deg
-[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms
-[05/10 16:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.103, 0.006)
-[05/10 16:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg
-[05/10 16:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:32:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 16:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 16:32:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:32:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:32:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:32:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True
-[05/10 16:32:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 95.974[deg]
-[05/10 16:32:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:35:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:36:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:36:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
-[05/10 16:36:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:36:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:36:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:36:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.41s (batch: 4.50s, save: 11.91s)
-[05/10 16:36:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.52s:
-  episode_total: mean=75.87s, total=227.61s, count=3, min=4046.0ms, max=218683.1ms
-  sensor_polling: mean=542.5ms, total=162.74s, count=300, min=450.0ms, max=1042.2ms
-  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.7ms, max=11906.7ms
-  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.1ms, max=162.9ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.4ms, max=4500.4ms
-  task_sampling: mean=506.0ms, total=1.52s, count=3, min=455.0ms, max=540.7ms
-  task_specific_sample: mean=502.8ms, total=1.51s, count=3, min=452.1ms, max=537.8ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=458.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 16:36:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:36:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:36:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 16:36:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:36:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:36:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073825m
-[05/10 16:36:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:36:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:36:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90864735  0.22478142  0.07382458] yaw=170.1deg
-[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74669891  0.21978485  0.07382458] yaw=171.7deg
-[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0136315   0.83607632  0.07382458] yaw=-152.6deg
-[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:36:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:36:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms
-[05/10 16:36:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.225, 0.074)
-[05/10 16:36:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg
-[05/10 16:36:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:36:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 16:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 16:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:36:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
-[05/10 16:36:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.404[m] 98.331[deg]
-[05/10 16:36:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:38:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:38:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:38:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 16:38:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True
-[05/10 16:38:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]
-[05/10 16:38:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:38:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:38:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:38:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:38:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:38:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:38:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/10 16:38:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True
-[05/10 16:38:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]
-[05/10 16:38:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:38:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:38:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:38:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 16:38:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:38:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:38:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/10 16:38:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.507s, found feasible grasp: True
-[05/10 16:38:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]
-[05/10 16:39:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:39:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:39:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:39:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:39:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 16:39:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:39:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.51s:
-  episode_total: mean=172.24s, total=172.24s, count=1, min=172241.0ms, max=172241.0ms
-  sensor_polling: mean=532.7ms, total=120.40s, count=226, min=444.5ms, max=1037.2ms
-  physics_step: mean=26.1ms, total=5.90s, count=226, min=13.3ms, max=87.0ms
-  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
-  task_specific_sample: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=434.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:39:19 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:39:19 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:39:19 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 6/8 successful episodes
-[05/10 16:39:19 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=4970.21s
-  House averages:
-  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
-  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
-  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
-  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
-  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
-  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
-  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:39:19 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 16:39:19 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4970.21s
-  Worker averages:
-  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
-  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
-  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
-  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
-  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
-  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
-  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
-  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
-  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
-  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
-  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
-  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:39:22 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 16:39:22 INFO pipeline.py:1491] Success count: 6, Total count: 8
-[05/10 16:39:22 INFO pipeline.py:1492] Success rate: 75.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
-==========================================
diff --git a/fridge_7/chunk_003/shard_3_of_4.log b/fridge_7/chunk_003/shard_3_of_4.log
deleted file mode 100644
index fd11cf470e0b63fc06ed169b99f17df337ca539f..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_003/shard_3_of_4.log
+++ /dev/null
@@ -1,1673 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
-  shard=3/4  seed=20303  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:53:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:53:50 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:53:50 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eaa413d5f10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20303,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:53:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:53:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 139269701374544 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139269701374544 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 139269701374544 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139269701374544 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 139269703957520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139269703957520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139269703958032 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139269703958032 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139269703958032 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139269703958032 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139269703957520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139269703957520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139269701410960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139269701410960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139269701415952 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139269701415952 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 139269701415952 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139269701415952 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139269701410960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139269701410960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5dc199c6df80 at 0x7eaa419b0a10>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5dc199c6fa50 at 0x7eaa417664d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5dc199c6fa50 at 0x7eaa415e8a90>
-[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/10 15:53:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:53:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:53:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057388m
-[05/10 15:53:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:53:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:53:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74110588  0.87079015  0.0573882 ] yaw=-168.1deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75827121  1.04572345  0.0573882 ] yaw=-146.2deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=36.8ms, retries=354.6ms, total=391.4ms
-[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.871, 0.057)
-[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.528s
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 15:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.284s, found feasible grasp: True
-[05/10 15:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.669[m] 89.926[deg]
-[05/10 15:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 15:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 15:56:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:56:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:56:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/10 15:56:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True
-[05/10 15:56:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.581[deg]
-[05/10 15:56:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:56:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:56:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
-[05/10 15:56:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=5.12s:
-  episode_total: mean=180.64s, total=180.64s, count=1, min=180638.3ms, max=180638.3ms
-  sensor_polling: mean=451.9ms, total=135.57s, count=300, min=394.0ms, max=741.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=44.4ms
-  task_sampling: mean=5.12s, total=5.12s, count=1, min=5124.4ms, max=5124.4ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=39.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:56:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:56:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:56:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 15:56:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:56:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:56:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023147m
-[05/10 15:56:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:56:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:56:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6861366   0.61371963  0.02314673] yaw=-165.3deg
-[05/10 15:56:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:56:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:56:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=561.8ms, total=561.8ms
-[05/10 15:56:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.614, 0.023)
-[05/10 15:56:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg
-[05/10 15:56:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:56:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:56:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:56:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 15:56:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:56:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:56:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 15:56:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True
-[05/10 15:56:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.608[m] 89.711[deg]
-[05/10 15:56:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:59:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:59:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:59:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 15:59:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:59:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:59:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:59:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.76s (batch: 3.62s, save: 9.15s)
-[05/10 15:59:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.79s:
-  episode_total: mean=185.84s, total=185.84s, count=1, min=185843.1ms, max=185843.1ms
-  sensor_polling: mean=450.0ms, total=135.01s, count=300, min=384.1ms, max=919.0ms
-  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.1ms, max=9147.1ms
-  physics_step: mean=20.1ms, total=6.04s, count=300, min=16.5ms, max=37.9ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3617.7ms, max=3617.7ms
-  task_sampling: mean=785.7ms, total=785.7ms, count=1, min=785.7ms, max=785.7ms
-  task_specific_sample: mean=782.7ms, total=782.7ms, count=1, min=782.7ms, max=782.7ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=498.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:00:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:00:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 16:00:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:00:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:00:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055814m
-[05/10 16:00:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:00:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:00:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6873822   0.18014073  0.05581404] yaw=160.7deg
-[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70582676  0.27590113  0.05581404] yaw=172.3deg
-[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95792942  0.17093901  0.05581404] yaw=162.4deg
-[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:00:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:00:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.5ms
-[05/10 16:00:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.180, 0.056)
-[05/10 16:00:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg
-[05/10 16:00:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:00:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/10 16:00:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:00:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:00:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 16:00:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.172s, found feasible grasp: True
-[05/10 16:00:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.606[m] 88.288[deg]
-[05/10 16:00:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:01:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:01:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:01:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:02:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:02:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:02:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
-[05/10 16:02:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.515s, found feasible grasp: True
-[05/10 16:02:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.897[deg]
-[05/10 16:02:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:02:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:02:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:02:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:02:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 68 non-colliding grasps
-[05/10 16:02:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 4.625s, found feasible grasp: True
-[05/10 16:02:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 4 (originally 4): w/ 0.220[m] 2.768[deg]
-[05/10 16:02:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:03:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:03:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.35s:
-  episode_total: mean=179.42s, total=179.42s, count=1, min=179416.7ms, max=179416.7ms
-  sensor_polling: mean=459.6ms, total=137.88s, count=300, min=393.5ms, max=758.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=12.4ms, max=63.5ms
-  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
-  task_specific_sample: mean=341.2ms, total=341.2ms, count=1, min=341.2ms, max=341.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=482.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:03:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:03:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:03:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 16:03:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:03:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:03:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041717m
-[05/10 16:03:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:03:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:03:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75215391  0.02484319  0.04171685] yaw=152.6deg
-[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66629315  0.84781047  0.04171685] yaw=-149.6deg
-[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90912988  0.7641917   0.04171685] yaw=-154.0deg
-[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:03:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:03:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.0ms, total=395.1ms
-[05/10 16:03:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.025, 0.042)
-[05/10 16:03:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg
-[05/10 16:03:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:03:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:03:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:03:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 16:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
-[05/10 16:03:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:03:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:03:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps
-[05/10 16:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.221s, found feasible grasp: True
-[05/10 16:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 102 (originally 102): w/ 0.643[m] 93.390[deg]
-[05/10 16:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 16:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:04:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:04:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:04:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps
-[05/10 16:04:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.452s, found feasible grasp: True
-[05/10 16:04:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.101[m] 0.696[deg]
-[05/10 16:04:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:04:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:05:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:05:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=0.66s:
-  episode_total: mean=177.59s, total=177.59s, count=1, min=177588.0ms, max=177588.0ms
-  sensor_polling: mean=514.5ms, total=154.36s, count=300, min=420.2ms, max=1010.1ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=17.2ms, max=114.5ms
-  task_sampling: mean=664.3ms, total=664.3ms, count=1, min=664.3ms, max=664.3ms
-  task_specific_sample: mean=660.7ms, total=660.7ms, count=1, min=660.7ms, max=660.7ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=532.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:06:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:06:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:06:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 16:06:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:06:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:06:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071049m
-[05/10 16:06:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:06:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:06:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64479938  0.6990011   0.07104915] yaw=-179.9deg
-[05/10 16:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6918244   0.72108893  0.07104915] yaw=-177.1deg
-[05/10 16:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:06:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91956634  0.12345181  0.07104915] yaw=154.2deg
-[05/10 16:06:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:06:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:06:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms
-[05/10 16:06:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.699, 0.071)
-[05/10 16:06:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg
-[05/10 16:06:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
-[05/10 16:06:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:06:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:06:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:06:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:06:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:06:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 16:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 16:06:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:06:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:06:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/10 16:06:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True
-[05/10 16:06:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.653[m] 94.027[deg]
-[05/10 16:06:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:08:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:09:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:09:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:09:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:09:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:09:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:09:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.28s (batch: 4.64s, save: 11.64s)
-[05/10 16:09:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=217.46s, total=217.46s, count=1, min=217461.8ms, max=217461.8ms
-  sensor_polling: mean=521.0ms, total=156.30s, count=300, min=439.9ms, max=1121.7ms
-  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11641.7ms, max=11641.7ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=16.4ms, max=82.0ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.3ms, max=4635.3ms
-  task_sampling: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
-  task_specific_sample: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:09:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:09:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:09:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 16:09:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:09:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:09:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040811m
-[05/10 16:09:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:09:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:09:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98531105  0.75226466  0.04081066] yaw=-154.2deg
-[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11672179  1.13617272  0.04081066] yaw=-138.8deg
-[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16276934  1.14365327  0.04081066] yaw=-127.6deg
-[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:09:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:09:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=242.9ms
-[05/10 16:09:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.752, 0.041)
-[05/10 16:09:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
-[05/10 16:09:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:09:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:09:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 16:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 16:09:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:09:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:09:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 16:09:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
-[05/10 16:09:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.300[m] 81.061[deg]
-[05/10 16:09:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:10:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:12:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:12:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:12:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:12:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
-[05/10 16:12:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:12:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:12:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.08s (batch: 3.89s, save: 11.19s)
-[05/10 16:12:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.62s:
-  episode_total: mean=197.15s, total=197.15s, count=1, min=197154.3ms, max=197154.3ms
-  sensor_polling: mean=523.0ms, total=146.43s, count=280, min=444.0ms, max=1104.3ms
-  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.8ms, max=11192.8ms
-  physics_step: mean=26.1ms, total=7.31s, count=280, min=16.2ms, max=82.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.7ms, max=3886.7ms
-  task_sampling: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
-  task_specific_sample: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=667.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=38.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:13:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:13:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:13:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 16:13:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:13:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:13:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084186m
-[05/10 16:13:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:13:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:13:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69242053  0.29765203  0.0841857 ] yaw=170.5deg
-[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92735471  0.17514077  0.0841857 ] yaw=154.6deg
-[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97670215  0.14622667  0.0841857 ] yaw=154.8deg
-[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:13:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:13:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms
-[05/10 16:13:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.298, 0.084)
-[05/10 16:13:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg
-[05/10 16:13:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:13:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:13:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:13:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 16:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
-[05/10 16:13:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:13:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:13:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 16:13:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True
-[05/10 16:13:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.570[m] 90.479[deg]
-[05/10 16:13:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:14:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:15:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:16:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:16:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:16:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:16:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:16:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:16:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 4.34s, save: 10.60s)
-[05/10 16:16:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
-  episode_total: mean=213.06s, total=213.06s, count=1, min=213064.8ms, max=213064.8ms
-  sensor_polling: mean=519.9ms, total=155.96s, count=300, min=443.3ms, max=910.8ms
-  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10604.7ms, max=10604.7ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=18.9ms, max=93.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.7ms, max=4344.7ms
-  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
-  task_specific_sample: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:16:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:16:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:16:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 16:16:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:16:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:16:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033911m
-[05/10 16:16:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:16:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:16:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97057961  0.86211681  0.03391084] yaw=-142.1deg
-[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93489134  1.25786349  0.03391084] yaw=-136.3deg
-[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8734841   0.33948078  0.03391084] yaw=163.7deg
-[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:16:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:16:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.1ms, total=238.1ms
-[05/10 16:16:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.862, 0.034)
-[05/10 16:16:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg
-[05/10 16:16:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:16:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:16:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:16:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 16:16:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.126s
-[05/10 16:16:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:16:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:16:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 16:16:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True
-[05/10 16:16:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 89.973[deg]
-[05/10 16:16:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:16:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:16:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:19:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:19:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:19:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:19:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
-[05/10 16:20:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:20:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:20:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.63s (batch: 4.21s, save: 9.42s)
-[05/10 16:20:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s:
-  episode_total: mean=207.33s, total=207.33s, count=1, min=207334.2ms, max=207334.2ms
-  sensor_polling: mean=522.9ms, total=154.79s, count=296, min=439.4ms, max=846.9ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9420.1ms, max=9420.1ms
-  physics_step: mean=26.0ms, total=7.71s, count=296, min=15.8ms, max=90.7ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.2ms, max=4212.2ms
-  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
-  task_specific_sample: mean=545.2ms, total=545.2ms, count=1, min=545.2ms, max=545.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:20:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:20:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
-[05/10 16:20:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:20:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:20:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001852m
-[05/10 16:20:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:20:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:20:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80084453  1.10818126  0.0018516 ] yaw=-150.0deg
-[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8730356   0.33828368  0.0018516 ] yaw=176.6deg
-[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77338296  0.61552429  0.0018516 ] yaw=-176.9deg
-[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:20:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:20:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms
-[05/10 16:20:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 1.108, 0.002)
-[05/10 16:20:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg
-[05/10 16:20:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:20:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 16:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 16:20:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 16:20:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.555s, found feasible grasp: True
-[05/10 16:20:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.693[m] 95.221[deg]
-[05/10 16:20:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:20:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:20:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 16:20:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:20:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:20:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005519m
-[05/10 16:20:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:20:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:20:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70556433  0.8489907   0.00551935] yaw=-163.8deg
-[05/10 16:20:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:20:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79733617 -0.0107319   0.00551935] yaw=161.1deg
-[05/10 16:20:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:20:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:20:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms
-[05/10 16:20:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.849, 0.006)
-[05/10 16:20:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
-[05/10 16:20:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:20:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:20:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:20:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 16:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 16:20:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:20:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:20:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 16:20:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.635s, found feasible grasp: True
-[05/10 16:20:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 87.449[deg]
-[05/10 16:20:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:21:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:21:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:23:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:23:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:23:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:23:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:23:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:23:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:23:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.34s (batch: 4.19s, save: 8.15s)
-[05/10 16:23:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.94s:
-  episode_total: mean=105.88s, total=211.75s, count=2, min=3358.9ms, max=208394.3ms
-  sensor_polling: mean=534.5ms, total=160.35s, count=300, min=450.8ms, max=1017.7ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8151.1ms, max=8151.1ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.6ms, max=84.1ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.0ms, max=4186.0ms
-  task_sampling: mean=471.3ms, total=942.6ms, count=2, min=439.9ms, max=502.7ms
-  task_specific_sample: mean=467.7ms, total=935.3ms, count=2, min=436.8ms, max=498.6ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:23:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:23:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 16:23:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:23:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:23:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041867m
-[05/10 16:23:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:23:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:23:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04484886  0.87475995  0.04186663] yaw=-146.6deg
-[05/10 16:23:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:23:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:23:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms
-[05/10 16:23:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.875, 0.042)
-[05/10 16:23:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg
-[05/10 16:23:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:23:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 16:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/10 16:23:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:23:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:23:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 16:23:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.587s, found feasible grasp: True
-[05/10 16:23:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.310[m] 87.013[deg]
-[05/10 16:23:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:24:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:26:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:26:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:26:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps
-[05/10 16:26:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:26:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:26:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.60s (batch: 4.29s, save: 8.30s)
-[05/10 16:26:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
-  episode_total: mean=198.63s, total=198.63s, count=1, min=198630.7ms, max=198630.7ms
-  sensor_polling: mean=536.9ms, total=151.94s, count=283, min=449.0ms, max=987.9ms
-  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8303.4ms, max=8303.4ms
-  physics_step: mean=26.2ms, total=7.41s, count=283, min=16.1ms, max=66.7ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.1ms, max=4293.1ms
-  task_sampling: mean=571.8ms, total=571.8ms, count=1, min=571.8ms, max=571.8ms
-  task_specific_sample: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=572.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:26:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:26:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:26:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 16:26:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:26:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:26:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052555m
-[05/10 16:26:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:26:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:26:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04097692  1.03950816  0.05255549] yaw=-146.9deg
-[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80319627  0.62207066  0.05255549] yaw=-180.2deg
-[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77152025  0.36809211  0.05255549] yaw=175.3deg
-[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:26:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:26:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=289.9ms, total=290.0ms
-[05/10 16:26:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.040, 0.053)
-[05/10 16:26:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg
-[05/10 16:26:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:27:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:27:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 16:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 16:27:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:27:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:27:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:27:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True
-[05/10 16:27:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.041[deg]
-[05/10 16:27:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:29:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:29:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:29:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:29:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
-[05/10 16:29:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
-[05/10 16:29:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.213[deg]
-[05/10 16:29:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:29:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:29:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 16:29:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:29:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:29:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038540m
-[05/10 16:29:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:29:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:29:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7607886   0.27304559  0.03854009] yaw=176.0deg
-[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94789648  0.18629998  0.03854009] yaw=154.5deg
-[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82501117  0.05040355  0.03854009] yaw=146.3deg
-[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:29:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:29:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms
-[05/10 16:29:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.273, 0.039)
-[05/10 16:29:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
-[05/10 16:29:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:29:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 16:29:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 16:29:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 16:29:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
-[05/10 16:29:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.504[m] 81.801[deg]
-[05/10 16:29:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:32:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:32:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:32:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:32:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:33:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:33:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:33:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.23s (batch: 5.74s, save: 9.49s)
-[05/10 16:33:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.05s:
-  episode_total: mean=185.59s, total=371.18s, count=2, min=162157.6ms, max=209022.8ms
-  sensor_polling: mean=488.1ms, total=285.53s, count=585, min=456.1ms, max=896.9ms
-  physics_step: mean=23.5ms, total=13.73s, count=585, min=16.4ms, max=73.1ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9490.9ms, max=9490.9ms
-  save_batch_prep: mean=5.74s, total=5.74s, count=1, min=5736.0ms, max=5736.0ms
-  task_sampling: mean=526.7ms, total=1.05s, count=2, min=451.6ms, max=601.8ms
-  task_specific_sample: mean=522.6ms, total=1.05s, count=2, min=447.1ms, max=598.1ms
-  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
-  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:33:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:33:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:33:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 16:33:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:33:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:33:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020172m
-[05/10 16:33:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:33:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:33:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:33:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83671046  0.766323    0.02017168] yaw=-155.3deg
-[05/10 16:33:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:33:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72627142  0.51052438  0.02017168] yaw=-185.7deg
-[05/10 16:33:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:33:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:33:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.8ms
-[05/10 16:33:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.766, 0.020)
-[05/10 16:33:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg
-[05/10 16:33:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:33:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:33:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:33:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 16:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 16:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:33:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True
-[05/10 16:33:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.557[deg]
-[05/10 16:33:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:34:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:36:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:36:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:36:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:36:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:36:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:36:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:36:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.04s (batch: 4.64s, save: 10.40s)
-[05/10 16:36:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
-  episode_total: mean=215.64s, total=215.64s, count=1, min=215642.0ms, max=215642.0ms
-  sensor_polling: mean=526.6ms, total=157.97s, count=300, min=444.7ms, max=919.2ms
-  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10402.6ms, max=10402.6ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.7ms, max=102.4ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.8ms, max=4641.8ms
-  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
-  task_specific_sample: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=585.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:36:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:36:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:36:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 16:36:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:36:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:36:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000285m
-[05/10 16:36:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:36:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:36:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.92559462e-01  9.56818635e-02  2.84902172e-04] yaw=164.3deg
-[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.08635840e-01  1.23819855e-01  2.84902172e-04] yaw=160.4deg
-[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.25366438e-01  5.24402946e-01  2.84902172e-04] yaw=-179.9deg
-[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:36:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:36:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms
-[05/10 16:36:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.096, 0.000)
-[05/10 16:36:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
-[05/10 16:36:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:36:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:36:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:36:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 16:36:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
-[05/10 16:36:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:36:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:36:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 16:36:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.491s, found feasible grasp: True
-[05/10 16:36:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.658[m] 92.845[deg]
-[05/10 16:36:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:39:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:40:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:40:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:40:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:40:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:40:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:40:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.83s (batch: 4.31s, save: 9.52s)
-[05/10 16:40:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
-  episode_total: mean=224.47s, total=224.47s, count=1, min=224474.0ms, max=224474.0ms
-  sensor_polling: mean=511.0ms, total=153.30s, count=300, min=437.9ms, max=897.6ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9523.6ms, max=9523.6ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.2ms, max=64.3ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.3ms, max=4310.3ms
-  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
-  task_specific_sample: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:40:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:40:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:40:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/10 16:40:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:40:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:40:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045059m
-[05/10 16:40:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:40:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:40:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00141628  0.81506613  0.04505875] yaw=-163.7deg
-[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70632328  0.59303034  0.04505875] yaw=-184.2deg
-[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06203591  1.08307883  0.04505875] yaw=-133.3deg
-[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:40:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:40:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms
-[05/10 16:40:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.815, 0.045)
-[05/10 16:40:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg
-[05/10 16:40:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:40:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:40:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:40:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 16:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.164s
-[05/10 16:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:40:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.195s, found 88 non-colliding grasps
-[05/10 16:40:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True
-[05/10 16:40:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.321[m] 78.504[deg]
-[05/10 16:40:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:41:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:43:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:43:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:43:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:43:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
-[05/10 16:43:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:43:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:43:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.20s (batch: 3.82s, save: 9.38s)
-[05/10 16:43:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
-  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.8ms, max=193402.8ms
-  sensor_polling: mean=500.3ms, total=142.08s, count=284, min=445.4ms, max=998.5ms
-  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9380.3ms, max=9380.3ms
-  physics_step: mean=23.8ms, total=6.76s, count=284, min=18.9ms, max=56.1ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3815.2ms, max=3815.2ms
-  task_sampling: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
-  task_specific_sample: mean=511.5ms, total=511.5ms, count=1, min=511.5ms, max=511.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=533.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:43:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:43:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:43:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:43:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:43:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:43:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:43:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 16:43:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:43:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:43:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067842m
-[05/10 16:43:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:43:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:43:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:43:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73205294  0.98727887  0.06784189] yaw=-151.3deg
-[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8019243   0.05748398  0.06784189] yaw=164.8deg
-[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65465169  0.49916039  0.06784189] yaw=-172.0deg
-[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:43:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:43:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.4ms, total=383.5ms
-[05/10 16:43:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.987, 0.068)
-[05/10 16:43:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg
-[05/10 16:43:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.094m
-[05/10 16:43:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:43:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:43:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:43:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:43:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 16:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
-[05/10 16:43:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:43:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:43:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 16:43:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.773s, found feasible grasp: True
-[05/10 16:43:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.680[m] 87.312[deg]
-[05/10 16:43:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:45:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:45:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:46:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:46:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:46:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:46:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:47:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:47:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:47:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.04s (batch: 4.77s, save: 8.27s)
-[05/10 16:47:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.74s:
-  episode_total: mean=192.61s, total=192.61s, count=1, min=192606.6ms, max=192606.6ms
-  sensor_polling: mean=467.2ms, total=140.17s, count=300, min=402.3ms, max=959.9ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.6ms, max=8273.6ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=14.1ms, max=49.9ms
-  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4769.0ms, max=4769.0ms
-  task_sampling: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
-  task_specific_sample: mean=733.0ms, total=733.0ms, count=1, min=733.0ms, max=733.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=388.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:47:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:47:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:47:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:47:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:47:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:47:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 16:47:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:47:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:47:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032079m
-[05/10 16:47:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:47:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:47:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:47:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:47:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:47:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82303894  0.95346006  0.0320795 ] yaw=-162.4deg
-[05/10 16:47:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70354347  0.79384768  0.0320795 ] yaw=-161.5deg
-[05/10 16:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83626108  0.88553767  0.0320795 ] yaw=-165.6deg
-[05/10 16:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.9ms, total=254.9ms
-[05/10 16:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.953, 0.032)
-[05/10 16:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg
-[05/10 16:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
-[05/10 16:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:47:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:47:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 16:47:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 16:47:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:47:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:47:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 16:47:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.601s, found feasible grasp: True
-[05/10 16:47:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.604[m] 87.373[deg]
-[05/10 16:47:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:49:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:50:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:50:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
-[05/10 16:50:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:50:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:50:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:50:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.21s (batch: 3.97s, save: 9.24s)
-[05/10 16:50:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
-  episode_total: mean=193.22s, total=193.22s, count=1, min=193224.1ms, max=193224.1ms
-  sensor_polling: mean=469.1ms, total=140.72s, count=300, min=407.9ms, max=1029.1ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.8ms, max=9238.8ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.1ms, max=60.8ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.9ms, max=3972.9ms
-  task_sampling: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
-  task_specific_sample: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=378.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:50:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:50:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:50:22 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/16 successful episodes
-[05/10 16:50:22 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/16 successful, 16 episodes, total_time=6205.07s
-  House averages:
-  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
-  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
-  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
-  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
-  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
-  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
-  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:50:22 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 16:50:22 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6205.07s
-  Worker averages:
-  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
-  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
-  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
-  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
-  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
-  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
-  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
-  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
-  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
-  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
-  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
-  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
-  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
-  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
-  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
-  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:50:25 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 16:50:25 INFO pipeline.py:1491] Success count: 13, Total count: 16
-[05/10 16:50:25 INFO pipeline.py:1492] Success rate: 81.25%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
-==========================================
diff --git a/fridge_7/chunk_003/shard_4_of_4.log b/fridge_7/chunk_003/shard_4_of_4.log
deleted file mode 100644
index e4f5e5325532b58515b131c8181b4fa1353f93ca..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_003/shard_4_of_4.log
+++ /dev/null
@@ -1,1717 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
-  shard=4/4  seed=20304  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 15:53:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 15:53:50 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 15:53:50 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f41cee54850>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20304,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 15:53:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 15:53:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 139920615189968 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139920615189968 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 139920615189968 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139920615189968 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 139920614074896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139920614074896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139920614071696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139920614071696 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139920614071696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139920614071696 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139920614074896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139920614074896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139920615217552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139920615217552 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139920615214992 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139920615214992 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 139920615214992 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139920615214992 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139920615217552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139920615217552 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 62005ebcaa00 at 0x7f41cf037510>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62005ebf85a0 at 0x7f41cf044d10>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62005ebf85a0 at 0x7f41cefbec50>
-[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 15:53:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:53:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:53:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011011m
-[05/10 15:53:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:53:54 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 15:53:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79500019  0.82385382  0.01101109] yaw=-170.5deg
-[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0366573   0.87764913  0.01101109] yaw=-142.6deg
-[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=28.9ms, retries=298.4ms, total=327.3ms
-[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.824, 0.011)
-[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg
-[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.970m
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.914s
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:54:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 15:54:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.585s, found feasible grasp: True
-[05/10 15:54:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 97.665[deg]
-[05/10 15:54:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:55:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:56:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 15:57:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:57:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 15:57:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 15:57:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 15:57:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 15:57:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.44s (batch: 3.99s, save: 9.44s)
-[05/10 15:57:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.59s:
-  episode_total: mean=215.31s, total=215.31s, count=1, min=215305.2ms, max=215305.2ms
-  sensor_polling: mean=448.8ms, total=134.65s, count=300, min=394.8ms, max=690.5ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.6ms, max=9443.6ms
-  physics_step: mean=20.7ms, total=6.21s, count=300, min=13.7ms, max=47.7ms
-  task_sampling: mean=4.59s, total=4.59s, count=1, min=4591.1ms, max=4591.1ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.2ms, max=3992.2ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  task_specific_sample: mean=800.3ms, total=800.3ms, count=1, min=800.3ms, max=800.3ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=506.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=48.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 15:57:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 15:57:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:57:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 15:57:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 15:57:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 15:57:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082460m
-[05/10 15:57:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 15:57:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 15:57:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89686507  0.82581384  0.08246013] yaw=-149.4deg
-[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 15:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85648088  0.09945285  0.08246013] yaw=150.5deg
-[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92949959  0.44741671  0.08246013] yaw=172.4deg
-[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 15:57:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 15:57:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.5ms
-[05/10 15:57:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.826, 0.082)
-[05/10 15:57:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg
-[05/10 15:57:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 15:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 15:57:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 15:57:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 15:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
-[05/10 15:57:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 15:57:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 15:57:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 15:57:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.015s, found feasible grasp: True
-[05/10 15:57:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 86.737[deg]
-[05/10 15:57:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 15:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 15:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 15:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 15:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 15:58:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 15:59:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:00:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:00:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:00:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:00:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:00:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:00:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.51s (batch: 4.10s, save: 10.41s)
-[05/10 16:00:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.36s:
-  episode_total: mean=189.78s, total=189.78s, count=1, min=189778.1ms, max=189778.1ms
-  sensor_polling: mean=467.8ms, total=140.33s, count=300, min=399.7ms, max=804.2ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.8ms, max=10405.8ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=17.0ms, max=69.7ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.6ms, max=4102.6ms
-  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
-  task_specific_sample: mean=357.8ms, total=357.8ms, count=1, min=357.8ms, max=357.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:00:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:00:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:00:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
-[05/10 16:00:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:00:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:00:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014705m
-[05/10 16:00:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:00:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:00:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:39 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.4ms, total=143.5ms
-[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 16:00:39 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 16:00:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:00:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 16:00:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:00:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:00:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049298m
-[05/10 16:00:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:00:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:00:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92679836  0.60491503  0.04929792] yaw=-176.5deg
-[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85195048  0.08974893  0.04929792] yaw=150.2deg
-[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:00:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82921549  0.86571128  0.04929792] yaw=-151.0deg
-[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:00:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:00:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms
-[05/10 16:00:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.605, 0.049)
-[05/10 16:00:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg
-[05/10 16:00:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:00:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:00:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:00:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 16:00:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 16:00:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:00:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:00:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 16:00:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True
-[05/10 16:00:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.320[m] 83.067[deg]
-[05/10 16:00:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:00:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:00:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:01:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:03:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:03:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:03:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:03:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
-[05/10 16:03:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:03:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:03:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.93s (batch: 4.74s, save: 10.19s)
-[05/10 16:03:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
-  episode_total: mean=92.72s, total=185.44s, count=2, min=153.9ms, max=185283.0ms
-  sensor_polling: mean=466.8ms, total=132.58s, count=284, min=397.1ms, max=774.4ms
-  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.1ms, max=10190.1ms
-  physics_step: mean=22.7ms, total=6.43s, count=284, min=17.2ms, max=85.6ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4742.6ms, max=4742.6ms
-  task_specific_sample: mean=242.5ms, total=485.0ms, count=2, min=148.7ms, max=336.4ms
-  task_sampling: mean=339.0ms, total=339.0ms, count=1, min=339.0ms, max=339.0ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.4ms
-  mj_forward_sync: mean=407.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:03:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:03:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:03:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 16:03:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:03:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:03:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051112m
-[05/10 16:03:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:03:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:03:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91436013  0.85256996  0.0511119 ] yaw=-158.1deg
-[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87781191  1.18163297  0.0511119 ] yaw=-131.7deg
-[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85473775  0.66720945  0.0511119 ] yaw=-176.1deg
-[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:03:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:03:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms
-[05/10 16:03:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.853, 0.051)
-[05/10 16:03:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg
-[05/10 16:03:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:03:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:03:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 16:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 16:03:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:03:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:03:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:03:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
-[05/10 16:03:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.317[deg]
-[05/10 16:03:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:04:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:04:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:06:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:07:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:07:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:07:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:07:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:07:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:07:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.80s (batch: 4.34s, save: 9.45s)
-[05/10 16:07:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
-  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.7ms, max=211050.7ms
-  sensor_polling: mean=532.7ms, total=159.82s, count=300, min=452.1ms, max=927.0ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9453.4ms, max=9453.4ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=15.9ms, max=105.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.1ms, max=4342.1ms
-  task_sampling: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms
-  task_specific_sample: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:07:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:07:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:07:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 16:07:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:07:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:07:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021284m
-[05/10 16:07:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:07:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:07:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:07:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78428527  0.53661773  0.02128433] yaw=-177.2deg
-[05/10 16:07:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:07:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75751337  0.22356384  0.02128433] yaw=170.0deg
-[05/10 16:07:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:07:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:07:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.1ms
-[05/10 16:07:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.537, 0.021)
-[05/10 16:07:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg
-[05/10 16:07:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:07:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:07:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:07:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 16:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 16:07:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:07:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:07:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 16:07:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
-[05/10 16:07:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.458[m] 89.637[deg]
-[05/10 16:07:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:10:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:10:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:10:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:10:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:10:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:10:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:10:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.66s (batch: 4.56s, save: 9.10s)
-[05/10 16:10:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
-  episode_total: mean=208.11s, total=208.11s, count=1, min=208112.0ms, max=208112.0ms
-  sensor_polling: mean=525.9ms, total=157.77s, count=300, min=444.5ms, max=860.4ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.5ms, max=9098.5ms
-  physics_step: mean=27.4ms, total=8.21s, count=300, min=15.7ms, max=100.1ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4557.6ms, max=4557.6ms
-  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:10:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:10:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:10:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 16:10:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:10:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:10:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027659m
-[05/10 16:10:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:10:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:10:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76199908  0.39991185  0.02765918] yaw=174.5deg
-[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:10:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73440049  0.34856376  0.02765918] yaw=164.5deg
-[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73547019  0.34422849  0.02765918] yaw=161.6deg
-[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:10:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:10:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.5ms
-[05/10 16:10:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.400, 0.028)
-[05/10 16:10:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg
-[05/10 16:10:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:10:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 16:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 16:10:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:10:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:10:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 16:10:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True
-[05/10 16:10:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.517[m] 96.274[deg]
-[05/10 16:10:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:14:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:14:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:14:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:14:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:14:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:14:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.93s (batch: 4.17s, save: 8.76s)
-[05/10 16:14:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
-  episode_total: mean=213.49s, total=213.49s, count=1, min=213490.3ms, max=213490.3ms
-  sensor_polling: mean=548.6ms, total=164.58s, count=300, min=449.1ms, max=955.0ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.5ms, max=8756.5ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=19.3ms, max=99.9ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
-  task_sampling: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms
-  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:14:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:14:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:14:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 16:14:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:14:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:14:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034588m
-[05/10 16:14:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:14:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:14:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90001371  0.45782883  0.03458801] yaw=170.0deg
-[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98531448  0.81537532  0.03458801] yaw=-146.1deg
-[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98926225  0.90092376  0.03458801] yaw=-138.9deg
-[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:14:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:14:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.3ms, total=250.3ms
-[05/10 16:14:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.458, 0.035)
-[05/10 16:14:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
-[05/10 16:14:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.803m
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:14:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:14:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:14:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 16:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
-[05/10 16:14:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:14:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:14:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:14:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True
-[05/10 16:14:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 80.022[deg]
-[05/10 16:14:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:15:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:17:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:17:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:17:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:17:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/10 16:17:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:17:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:17:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.80s (batch: 4.84s, save: 10.96s)
-[05/10 16:17:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
-  episode_total: mean=201.70s, total=201.70s, count=1, min=201695.8ms, max=201695.8ms
-  sensor_polling: mean=519.9ms, total=149.72s, count=288, min=436.0ms, max=797.4ms
-  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.7ms, max=10964.7ms
-  physics_step: mean=28.2ms, total=8.13s, count=288, min=16.4ms, max=83.0ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.2ms, max=4839.2ms
-  task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
-  task_specific_sample: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=634.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:17:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:17:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 16:17:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:17:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:17:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009944m
-[05/10 16:17:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:17:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:17:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70033216  0.80277506  0.00994405] yaw=-170.9deg
-[05/10 16:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03097913  0.828807    0.00994405] yaw=-152.2deg
-[05/10 16:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:17:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:17:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms
-[05/10 16:17:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.803, 0.010)
-[05/10 16:17:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg
-[05/10 16:17:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.052m
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:17:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 16:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 16:17:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 16:17:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True
-[05/10 16:17:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.607[m] 88.436[deg]
-[05/10 16:17:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:17:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:17:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/10 16:17:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:17:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:17:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032844m
-[05/10 16:17:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:17:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:17:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:17:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74052538  0.12196726  0.03284389] yaw=164.4deg
-[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89239633  0.27791917  0.03284389] yaw=177.0deg
-[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16404811  1.03997636  0.03284389] yaw=-135.0deg
-[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:17:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:17:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms
-[05/10 16:17:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.122, 0.033)
-[05/10 16:17:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg
-[05/10 16:17:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:17:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:17:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:17:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 16:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 16:17:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:17:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:17:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 16:17:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.950s, found feasible grasp: True
-[05/10 16:17:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 87.021[deg]
-[05/10 16:17:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:20:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:21:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:21:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:21:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:21:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:21:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:21:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.34s (batch: 5.03s, save: 9.31s)
-[05/10 16:21:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
-  episode_total: mean=111.34s, total=222.69s, count=2, min=3924.5ms, max=218764.2ms
-  sensor_polling: mean=534.0ms, total=160.21s, count=300, min=459.3ms, max=852.5ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.7ms, max=9305.7ms
-  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.0ms, max=61.0ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.5ms, max=5033.5ms
-  task_sampling: mean=460.6ms, total=921.1ms, count=2, min=387.7ms, max=533.4ms
-  task_specific_sample: mean=456.2ms, total=912.5ms, count=2, min=384.2ms, max=528.3ms
-  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=1.5ms, max=3.6ms
-  mj_forward_sync: mean=608.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:21:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:21:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:21:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 16:21:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:21:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:21:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093497m
-[05/10 16:21:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:21:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:21:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99094009  0.1769598   0.0934975 ] yaw=155.8deg
-[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86959035  0.45016866  0.0934975 ] yaw=170.2deg
-[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72183036  0.01775648  0.0934975 ] yaw=159.9deg
-[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:21:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:21:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms
-[05/10 16:21:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.991, 0.177, 0.093)
-[05/10 16:21:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg
-[05/10 16:21:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:21:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:21:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:21:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 16:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 16:21:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:21:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:21:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:21:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True
-[05/10 16:21:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 100.324[deg]
-[05/10 16:21:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:23:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:23:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:23:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 16:23:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.406s, found feasible grasp: True
-[05/10 16:23:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.183[deg]
-[05/10 16:23:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:23:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:23:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 16:23:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:23:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:23:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062068m
-[05/10 16:23:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:23:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:23:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67073229  0.82334331  0.06206791] yaw=-154.8deg
-[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84445441  0.52527591  0.06206791] yaw=-180.9deg
-[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:23:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76404605  0.63309722  0.06206791] yaw=-162.0deg
-[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:23:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:23:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms
-[05/10 16:23:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.823, 0.062)
-[05/10 16:23:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg
-[05/10 16:23:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:23:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:23:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 16:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 16:23:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:23:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:23:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 16:23:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.367s, found feasible grasp: True
-[05/10 16:23:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.672[m] 87.062[deg]
-[05/10 16:23:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:24:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 16:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:25:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:25:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:25:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps
-[05/10 16:25:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.900s, found feasible grasp: True
-[05/10 16:25:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.844[deg]
-[05/10 16:25:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:25:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:26:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:26:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=False episode_total=0.86s:
-  episode_total: mean=140.11s, total=280.22s, count=2, min=109913.9ms, max=170305.5ms
-  sensor_polling: mean=525.2ms, total=246.31s, count=469, min=433.2ms, max=941.6ms
-  physics_step: mean=25.4ms, total=11.92s, count=469, min=16.2ms, max=80.4ms
-  task_sampling: mean=429.0ms, total=858.1ms, count=2, min=403.1ms, max=454.9ms
-  task_specific_sample: mean=425.4ms, total=850.8ms, count=2, min=399.1ms, max=451.7ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 16:26:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:26:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:26:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 16:26:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:26:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:26:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013091m
-[05/10 16:26:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:26:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:26:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99154187  1.11633231  0.01309076] yaw=-135.1deg
-[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67323299  0.79388964  0.01309076] yaw=-152.2deg
-[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78917736  0.9803987   0.01309076] yaw=-159.0deg
-[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:26:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:26:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms
-[05/10 16:26:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 1.116, 0.013)
-[05/10 16:26:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg
-[05/10 16:26:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:26:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:26:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 16:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 16:26:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:26:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:26:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 16:26:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.562s, found feasible grasp: True
-[05/10 16:26:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 91.410[deg]
-[05/10 16:26:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:26:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:26:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:26:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 16:26:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:26:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:26:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087298m
-[05/10 16:26:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:26:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:26:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88063798  0.38033654  0.08729835] yaw=165.3deg
-[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93485014  0.31995196  0.08729835] yaw=177.5deg
-[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15611414  1.15962341  0.08729835] yaw=-136.9deg
-[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:26:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:26:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms
-[05/10 16:26:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.380, 0.087)
-[05/10 16:26:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg
-[05/10 16:26:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:26:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:26:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:26:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 16:26:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 16:26:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:26:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:26:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:26:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
-[05/10 16:26:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.413[m] 95.775[deg]
-[05/10 16:26:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:27:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:27:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 16:28:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True
-[05/10 16:28:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.185[deg]
-[05/10 16:28:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:28:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:28:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:29:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:29:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:29:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 16:29:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.454s, found feasible grasp: True
-[05/10 16:29:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.848[deg]
-[05/10 16:29:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:29:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:29:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)
-[05/10 16:29:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:29:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:29:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067332m
-[05/10 16:29:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:29:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:29:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09651482  1.05819427  0.06733227] yaw=-134.2deg
-[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86513804  0.44998153  0.06733227] yaw=187.8deg
-[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20355933  1.06356037  0.06733227] yaw=-139.4deg
-[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:29:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:29:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms
-[05/10 16:29:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.058, 0.067)
-[05/10 16:29:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg
-[05/10 16:29:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.836m
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:29:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:29:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:29:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 16:29:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True
-[05/10 16:29:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 84.356[deg]
-[05/10 16:29:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:29:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:31:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:31:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:31:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/10 16:31:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.662s, found feasible grasp: True
-[05/10 16:31:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.338[deg]
-[05/10 16:31:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:31:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:31:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 16:31:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:31:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:31:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087066m
-[05/10 16:31:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:31:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:31:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84669373  0.45903207  0.08706636] yaw=179.1deg
-[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94923896  0.4436376   0.08706636] yaw=177.4deg
-[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68722737  0.10985743  0.08706636] yaw=169.2deg
-[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:31:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:31:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms
-[05/10 16:31:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.459, 0.087)
-[05/10 16:31:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg
-[05/10 16:31:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:31:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:31:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:31:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 16:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 16:31:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:31:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:31:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 16:31:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
-[05/10 16:31:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 97.445[deg]
-[05/10 16:31:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:34:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:35:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:35:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:35:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:35:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:35:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:35:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.06s (batch: 4.48s, save: 8.58s)
-[05/10 16:35:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.87s:
-  episode_total: mean=133.31s, total=533.25s, count=4, min=3236.5ms, max=214530.0ms
-  sensor_polling: mean=503.3ms, total=416.76s, count=828, min=433.8ms, max=1000.1ms
-  physics_step: mean=24.2ms, total=20.03s, count=828, min=15.8ms, max=98.2ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.4ms, max=8580.4ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.0ms, max=4483.0ms
-  task_sampling: mean=468.2ms, total=1.87s, count=4, min=438.8ms, max=483.6ms
-  task_specific_sample: mean=464.7ms, total=1.86s, count=4, min=435.5ms, max=479.3ms
-  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.2ms, max=1.4ms
-  mj_forward_sync: mean=464.3us, total=1.9ms, count=4, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 16:35:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:35:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:35:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 16:35:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:35:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:35:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m
-[05/10 16:35:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:35:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:35:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93857913  0.98534605  0.04381894] yaw=-150.8deg
-[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84877402  0.52257774  0.04381894] yaw=-183.6deg
-[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1872983   1.10851821  0.04381894] yaw=-139.0deg
-[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:35:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:35:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms
-[05/10 16:35:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.985, 0.044)
-[05/10 16:35:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg
-[05/10 16:35:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.915m
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:35:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:35:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 16:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 16:35:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:35:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:35:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 16:35:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.693s, found feasible grasp: True
-[05/10 16:35:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.544[m] 88.557[deg]
-[05/10 16:35:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:36:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:38:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:38:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:38:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:38:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:38:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:38:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:38:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.90s (batch: 4.17s, save: 8.73s)
-[05/10 16:38:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=206.52s, total=206.52s, count=1, min=206517.8ms, max=206517.8ms
-  sensor_polling: mean=525.9ms, total=157.76s, count=300, min=437.1ms, max=1033.0ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8727.0ms, max=8727.0ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.5ms, max=64.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.9ms, max=4169.9ms
-  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
-  task_specific_sample: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:38:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:38:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:38:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 16:38:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:38:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:38:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087057m
-[05/10 16:38:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:38:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:38:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03185565  0.12402814  0.08705666] yaw=150.6deg
-[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87424363  0.23141484  0.08705666] yaw=163.9deg
-[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10707826  0.96938523  0.08705666] yaw=-134.9deg
-[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:38:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:38:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms
-[05/10 16:38:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.032, 0.124, 0.087)
-[05/10 16:38:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg
-[05/10 16:38:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
-[05/10 16:38:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:38:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:38:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:38:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:38:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:38:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 16:38:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:38:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:38:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 16:38:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
-[05/10 16:38:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.321[m] 91.371[deg]
-[05/10 16:38:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:40:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:40:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:40:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:40:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:40:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:40:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 74 non-colliding grasps
-[05/10 16:40:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.956s, found feasible grasp: True
-[05/10 16:40:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.025[m] 3.367[deg]
-[05/10 16:40:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:41:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:41:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:41:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:41:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:41:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:41:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:41:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 68 non-colliding grasps
-[05/10 16:41:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.689s, found feasible grasp: True
-[05/10 16:41:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.299[deg]
-[05/10 16:41:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:41:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:42:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:42:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:42:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
-[05/10 16:42:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:42:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:42:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
-[05/10 16:42:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.83s, save: 11.54s)
-[05/10 16:42:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=250.00s, total=250.00s, count=1, min=249998.5ms, max=249998.5ms
-  sensor_polling: mean=514.7ms, total=154.40s, count=300, min=451.2ms, max=806.9ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11542.9ms, max=11542.9ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=14.4ms, max=110.1ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4833.6ms, max=4833.6ms
-  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
-  task_specific_sample: mean=436.7ms, total=436.7ms, count=1, min=436.7ms, max=436.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=417.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:42:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:42:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
-[05/10 16:42:58 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
-[05/10 16:42:58 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5383.37s
-  House averages:
-  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
-  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
-  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
-  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
-  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
-  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
-  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:42:58 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 16:42:58 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5383.37s
-  Worker averages:
-  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
-  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
-  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
-  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
-  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
-  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
-  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
-  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
-  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
-  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
-  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
-  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
-  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
-  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 16:43:01 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 16:43:01 INFO pipeline.py:1491] Success count: 11, Total count: 12
-[05/10 16:43:01 INFO pipeline.py:1492] Success rate: 91.67%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
-==========================================
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-05/10 16:51:10 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 16:51:10 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 16:51:10 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 16:51:10 INFO: {'batch_num': 2,
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-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d4337615f50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20402,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 16:51:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 16:51:10 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 16:51:10 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 16:51:11 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78e2033b7650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20404,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 16:51:11 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7746eb0fd310>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20401,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 16:51:11 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x765f86c78a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20403,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 16:51:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 16:51:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 16:51:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 16:51:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:51:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:51:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020761m	[env.py: 870]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:51:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79766661  0.50718083  0.02076148] yaw=-175.2deg	[env.py: 1019]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85698145  0.34753821  0.02076148] yaw=168.2deg	[env.py: 1019]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1136326   0.95812965  0.02076148] yaw=-137.6deg	[env.py: 1019]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:51:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=15.1ms, retries=84.1ms, total=99.1ms	[env.py: 1075]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.507, 0.021)	[env.py: 1079]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 16:51:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:51:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:51:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 16:51:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 16:51:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:51:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:51:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075250m	[env.py: 870]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:51:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81497616  0.07697924  0.07525023] yaw=145.9deg	[env.py: 1019]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.817896    0.31723752  0.07525023] yaw=160.3deg	[env.py: 1019]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80449776  0.46495691  0.07525023] yaw=178.5deg	[env.py: 1019]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=115.4ms, total=130.2ms	[env.py: 1075]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.077, 0.075)	[env.py: 1079]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg	[env.py: 1082]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 16:51:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 16:51:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 16:51:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 16:51:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:51:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001928m	[env.py: 870]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:51:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 16:51:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:51:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030327m	[env.py: 870]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:51:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09951756  1.22732743  0.00192841] yaw=-122.4deg	[env.py: 1019]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82873466  0.48844664  0.00192841] yaw=-180.7deg	[env.py: 1019]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62746716  0.66705975  0.00192841] yaw=-174.1deg	[env.py: 1019]
-05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=34.9ms, retries=239.7ms, total=274.6ms	[env.py: 1075]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.227, 0.002)	[env.py: 1079]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg	[env.py: 1082]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74683193  0.43514448  0.03032691] yaw=184.4deg	[env.py: 1019]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=374.4ms, total=390.8ms	[env.py: 1075]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.435, 0.030)	[env.py: 1079]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg	[env.py: 1082]
-05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 29.452s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:51:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.987s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:51:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:51:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:51:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:51:46 INFO: [Worker 0] Warmed up parallel IK solver in 31.326s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:51:46 INFO: [Worker 0] Warmed up parallel IK solver in 30.410s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 85.380[deg]	[grasp_sample.py: 539]
-05/10 16:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 92.240[deg]	[grasp_sample.py: 539]
-05/10 16:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:51:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.843s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:51:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.416[deg]	[grasp_sample.py: 539]
-05/10 16:51:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.332s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:51:49 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.507[m] 81.826[deg]	[grasp_sample.py: 539]
-05/10 16:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:51:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:51:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:51:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:51:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:52:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:52:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:52:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:53:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:53:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:54:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:54:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:54:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:54:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:54:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:54:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.334[deg]	[grasp_sample.py: 539]
-05/10 16:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:54:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:54:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:54:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:54:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:54:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:54:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:54:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:54:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:54:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:54:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:54:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 16:54:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 16:54:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:54:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:54:59 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.837[deg]	[grasp_sample.py: 539]
-05/10 16:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:55:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:55:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:55:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 16:55:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 16:55:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:55:05 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 16:55:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=4.83s:
-  episode_total: mean=234.20s, total=234.20s, count=1, min=234201.6ms, max=234201.6ms
-  sensor_polling: mean=531.0ms, total=159.31s, count=300, min=437.7ms, max=870.9ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.1ms, max=76.9ms
-  task_sampling: mean=4.83s, total=4.83s, count=1, min=4826.3ms, max=4826.3ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  task_specific_sample: mean=720.8ms, total=720.8ms, count=1, min=720.8ms, max=720.8ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=633.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:55:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:55:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082231m	[env.py: 870]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73835486  0.86721687  0.0822311 ] yaw=-148.1deg	[env.py: 1019]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68710551  0.47996575  0.0822311 ] yaw=183.9deg	[env.py: 1019]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76231803  0.41368338  0.0822311 ] yaw=171.7deg	[env.py: 1019]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:55:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.1ms, total=213.2ms	[env.py: 1075]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.867, 0.082)	[env.py: 1079]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
-05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:55:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:55:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:55:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 93.227[deg]	[grasp_sample.py: 539]
-05/10 16:55:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:55:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:55:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:55:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 16:55:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:55:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:55:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:55:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 16:55:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.23s (batch: 4.10s, save: 10.12s)	[pipeline.py: 300]
-05/10 16:55:14 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s:
-  episode_total: mean=242.78s, total=242.78s, count=1, min=242778.1ms, max=242778.1ms
-  sensor_polling: mean=525.7ms, total=157.71s, count=300, min=453.6ms, max=1035.2ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10120.9ms, max=10120.9ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.8ms, max=112.1ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.5ms, max=4104.5ms
-  task_sampling: mean=3.91s, total=3.91s, count=1, min=3906.0ms, max=3906.0ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=659.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:55:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:55:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:55:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:55:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:55:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:55:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006195m	[env.py: 870]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:55:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20249215  1.07275601  0.00619499] yaw=-136.2deg	[env.py: 1019]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9363735   0.65799917  0.00619499] yaw=-163.3deg	[env.py: 1019]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92782883  0.59133679  0.00619499] yaw=-166.0deg	[env.py: 1019]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:55:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.4ms, total=275.4ms	[env.py: 1075]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.202, 1.073, 0.006)	[env.py: 1079]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg	[env.py: 1082]
-05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:55:18 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:55:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:55:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:55:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:55:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.655s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:55:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 94.277[deg]	[grasp_sample.py: 539]
-05/10 16:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:55:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:55:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:55:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:55:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 16:55:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.83s (batch: 4.63s, save: 13.20s)	[pipeline.py: 300]
-05/10 16:55:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.32s:
-  episode_total: mean=250.58s, total=250.58s, count=1, min=250575.0ms, max=250575.0ms
-  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=451.9ms, max=868.1ms
-  save_trajectories: mean=13.20s, total=13.20s, count=1, min=13202.6ms, max=13202.6ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.2ms, max=74.2ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.9ms, max=4631.9ms
-  task_sampling: mean=3.32s, total=3.32s, count=1, min=3323.3ms, max=3323.3ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  task_specific_sample: mean=371.9ms, total=371.9ms, count=1, min=371.9ms, max=371.9ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:55:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:55:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:55:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:55:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:55:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:55:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076620m	[env.py: 870]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:55:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82343257  0.13654     0.07661975] yaw=147.3deg	[env.py: 1019]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85921987  0.98368862  0.07661975] yaw=-147.5deg	[env.py: 1019]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81021313  0.0102866   0.07661975] yaw=148.3deg	[env.py: 1019]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:55:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=134.9ms	[env.py: 1075]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.137, 0.077)	[env.py: 1079]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.3 deg	[env.py: 1082]
-05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
-05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:55:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:55:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:55:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:55:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:55:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.486[m] 83.805[deg]	[grasp_sample.py: 539]
-05/10 16:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:55:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:55:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 16:55:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.02s (batch: 5.60s, save: 11.43s)	[pipeline.py: 300]
-05/10 16:55:28 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.10s:
-  episode_total: mean=256.88s, total=256.88s, count=1, min=256877.0ms, max=256877.0ms
-  sensor_polling: mean=540.4ms, total=162.12s, count=300, min=456.6ms, max=948.5ms
-  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.8ms, max=11428.8ms
-  physics_step: mean=26.9ms, total=8.07s, count=300, min=18.3ms, max=94.6ms
-  save_batch_prep: mean=5.60s, total=5.60s, count=1, min=5595.6ms, max=5595.6ms
-  task_sampling: mean=4.10s, total=4.10s, count=1, min=4101.4ms, max=4101.4ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  task_specific_sample: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=404.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=35.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:55:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:55:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028288m	[env.py: 870]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72072348  0.21078079  0.02828766] yaw=168.6deg	[env.py: 1019]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72924306  0.87895691  0.02828766] yaw=-167.7deg	[env.py: 1019]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88261016  0.79878013  0.02828766] yaw=-148.3deg	[env.py: 1019]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms	[env.py: 1075]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.211, 0.028)	[env.py: 1079]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
-05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:55:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:55:30 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:55:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:55:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:55:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:55:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 94.848[deg]	[grasp_sample.py: 539]
-05/10 16:55:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:55:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:55:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:56:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:56:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:56:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:56:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:57:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:57:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:57:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:57:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:57:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.654s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:57:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.243[deg]	[grasp_sample.py: 539]
-05/10 16:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:50 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:57:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:57:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:57:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:57:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026620m	[env.py: 870]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84859588  0.03161113  0.02662041] yaw=148.3deg	[env.py: 1019]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86885973  1.0917148   0.02662041] yaw=-153.2deg	[env.py: 1019]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91098581  1.07170173  0.02662041] yaw=-138.0deg	[env.py: 1019]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:57:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.8ms, total=105.8ms	[env.py: 1075]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.032, 0.027)	[env.py: 1079]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
-05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:57:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:57:53 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:57:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:57:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:57:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.286s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:57:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.505[m] 88.247[deg]	[grasp_sample.py: 539]
-05/10 16:57:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:57:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:57:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 16:58:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 16:58:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 16:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:58:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:58:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.317[deg]	[grasp_sample.py: 539]
-05/10 16:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 16:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:58:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:58:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:58:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029858m	[env.py: 870]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16478897  1.15397728  0.02985841] yaw=-132.8deg	[env.py: 1019]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=597.4ms, total=597.5ms	[env.py: 1075]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.154, 0.030)	[env.py: 1079]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
-05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:58:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:58:06 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:58:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:58:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:58:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:58:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 87.609[deg]	[grasp_sample.py: 539]
-05/10 16:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:58:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:58:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:58:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 16:58:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 16:58:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:58:21 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 16:58:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:58:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 16:58:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.25s (batch: 4.49s, save: 10.76s)	[pipeline.py: 300]
-05/10 16:58:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=208.37s, total=208.37s, count=1, min=208374.6ms, max=208374.6ms
-  sensor_polling: mean=510.0ms, total=153.01s, count=300, min=431.3ms, max=1044.1ms
-  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10760.9ms, max=10760.9ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=50.9ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.6ms, max=4487.6ms
-  task_sampling: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
-  task_specific_sample: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:58:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:58:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:58:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083007m	[env.py: 870]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84848726  0.82161066  0.08300728] yaw=-152.6deg	[env.py: 1019]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15559946  1.06861294  0.08300728] yaw=-127.0deg	[env.py: 1019]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms	[env.py: 1075]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.822, 0.083)	[env.py: 1079]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg	[env.py: 1082]
-05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:58:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:58:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:58:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:58:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:58:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:58:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 91.420[deg]	[grasp_sample.py: 539]
-05/10 16:58:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:58:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:58:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:58:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 16:58:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 16:58:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 16:58:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:58:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:59:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:59:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:59:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 16:59:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 16:59:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 4.23s, save: 9.75s)	[pipeline.py: 300]
-05/10 16:59:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
-  episode_total: mean=214.86s, total=214.86s, count=1, min=214864.7ms, max=214864.7ms
-  sensor_polling: mean=529.1ms, total=158.73s, count=300, min=459.8ms, max=1095.3ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.3ms, max=9749.3ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.9ms, max=134.6ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.5ms, max=4229.5ms
-  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
-  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=432.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 16:59:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 16:59:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 16:59:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:59:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 16:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 16:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 16:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063641m	[env.py: 870]
-05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 16:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71948169 -0.00245467  0.0636405 ] yaw=151.7deg	[env.py: 1019]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 16:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88081432  0.3994378   0.0636405 ] yaw=173.4deg	[env.py: 1019]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 16:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=597.6ms, total=597.7ms	[env.py: 1075]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, -0.002, 0.064)	[env.py: 1079]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg	[env.py: 1082]
-05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
-05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 16:59:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 16:59:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 16:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/10 16:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 16:59:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 16:59:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 16:59:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.897s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 16:59:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.671[m] 96.856[deg]	[grasp_sample.py: 539]
-05/10 16:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 16:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 16:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:59:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 16:59:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 16:59:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:00:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:00:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:00:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:00:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]	[grasp_sample.py: 539]
-05/10 17:00:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:00:30 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:00:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:00:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058159m	[env.py: 870]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03059561  0.13822054  0.05815927] yaw=161.4deg	[env.py: 1019]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99391468  1.03407053  0.05815927] yaw=-130.9deg	[env.py: 1019]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms	[env.py: 1075]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.138, 0.058)	[env.py: 1079]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
-05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:00:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:00:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:00:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:00:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.357[m] 89.921[deg]	[grasp_sample.py: 539]
-05/10 17:00:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:00:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:00:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:00:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:00:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:00:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:01:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:01:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:01:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:01:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:01:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:01:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:01:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:01:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.33s, save: 8.87s)	[pipeline.py: 300]
-05/10 17:01:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.95s:
-  episode_total: mean=181.96s, total=363.92s, count=2, min=153396.0ms, max=210519.2ms
-  sensor_polling: mean=520.7ms, total=286.40s, count=550, min=445.8ms, max=991.5ms
-  physics_step: mean=26.2ms, total=14.41s, count=550, min=16.8ms, max=133.1ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.9ms, max=8869.9ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.1ms, max=4329.1ms
-  task_sampling: mean=473.4ms, total=946.8ms, count=2, min=366.9ms, max=579.9ms
-  task_specific_sample: mean=469.6ms, total=939.2ms, count=2, min=363.8ms, max=575.4ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=477.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:01:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:01:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:01:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:01:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039501m	[env.py: 870]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88894448  0.38690584  0.03950129] yaw=172.8deg	[env.py: 1019]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74492887  0.16415057  0.03950129] yaw=166.9deg	[env.py: 1019]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79208385  0.79436864  0.03950129] yaw=-164.9deg	[env.py: 1019]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:01:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.387, 0.040)	[env.py: 1079]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
-05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:01:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:01:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.292s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:01:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:01:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:01:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:01:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.156s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:01:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.366[m] 88.727[deg]	[grasp_sample.py: 539]
-05/10 17:01:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:01:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:01:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:01:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:01:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:01:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:01:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:01:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:01:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:01:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:01:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:02:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:02:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.168[deg]	[grasp_sample.py: 539]
-05/10 17:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:02:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:02:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.90s (batch: 5.43s, save: 11.47s)	[pipeline.py: 300]
-05/10 17:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
-  episode_total: mean=212.28s, total=212.28s, count=1, min=212275.2ms, max=212275.2ms
-  sensor_polling: mean=520.8ms, total=156.23s, count=300, min=448.8ms, max=1145.0ms
-  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11469.8ms, max=11469.8ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.8ms, max=69.3ms
-  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.8ms, max=5425.8ms
-  task_sampling: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
-  task_specific_sample: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=506.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:02:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:02:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:02:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:02:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:02:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053818m	[env.py: 870]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94241542  0.87983669  0.0538176 ] yaw=-150.1deg	[env.py: 1019]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8904729   0.14087094  0.0538176 ] yaw=167.1deg	[env.py: 1019]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:02:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.3ms	[env.py: 1075]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.880, 0.054)	[env.py: 1079]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg	[env.py: 1082]
-05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:02:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:02:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:02:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:02:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:02:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:02:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 95.759[deg]	[grasp_sample.py: 539]
-05/10 17:02:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:02:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:02:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:02:20 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:02:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:02:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:02:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:02:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:02:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:02:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.876[deg]	[grasp_sample.py: 539]
-05/10 17:02:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:02:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:02:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:02:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:02:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:02:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:02:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:03:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:03:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:03:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.07s (batch: 4.36s, save: 9.71s)	[pipeline.py: 300]
-05/10 17:03:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235735.5ms, max=235735.5ms
-  sensor_polling: mean=514.7ms, total=154.42s, count=300, min=447.4ms, max=823.5ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9708.6ms, max=9708.6ms
-  physics_step: mean=24.7ms, total=7.41s, count=300, min=13.9ms, max=61.3ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.1ms, max=4364.1ms
-  task_sampling: mean=917.9ms, total=917.9ms, count=1, min=917.9ms, max=917.9ms
-  task_specific_sample: mean=903.2ms, total=903.2ms, count=1, min=903.2ms, max=903.2ms
-  scene_randomize: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=580.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:03:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:03:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:03:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:03:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:03:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040872m	[env.py: 870]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97274775  0.69034929  0.04087243] yaw=-153.9deg	[env.py: 1019]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93603365  0.89222485  0.04087243] yaw=-151.4deg	[env.py: 1019]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14757969  1.16884906  0.04087243] yaw=-139.5deg	[env.py: 1019]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.8ms, total=388.9ms	[env.py: 1075]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.690, 0.041)	[env.py: 1079]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
-05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:03:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:03:06 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:03:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.189s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:03:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:03:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:03:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:03:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:03:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.316[m] 85.838[deg]	[grasp_sample.py: 539]
-05/10 17:03:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:03:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:03:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:03:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:03:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:03:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:03:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:03:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:03:26 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.957[deg]	[grasp_sample.py: 539]
-05/10 17:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:03:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:04:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:04:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:04:08 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.866s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:04:08 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.269[deg]	[grasp_sample.py: 539]
-05/10 17:04:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:04:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:04:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:04:14 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 17:04:14 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.91s:
-  episode_total: mean=175.50s, total=526.51s, count=3, min=144538.3ms, max=222010.7ms
-  sensor_polling: mean=522.9ms, total=412.58s, count=789, min=434.0ms, max=949.7ms
-  physics_step: mean=25.0ms, total=19.70s, count=789, min=15.3ms, max=88.3ms
-  task_sampling: mean=635.4ms, total=1.91s, count=3, min=453.7ms, max=871.3ms
-  task_specific_sample: mean=631.5ms, total=1.89s, count=3, min=449.6ms, max=867.5ms
-  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.7ms
-  mj_forward_sync: mean=489.8us, total=1.5ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:04:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:04:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:04:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:04:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:04:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061022m	[env.py: 870]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95058998  0.29946864  0.0610222 ] yaw=166.6deg	[env.py: 1019]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01330132  0.93919637  0.0610222 ] yaw=-144.3deg	[env.py: 1019]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79825427  0.85730678  0.0610222 ] yaw=-161.2deg	[env.py: 1019]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.299, 0.061)	[env.py: 1079]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
-05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:04:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:04:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:04:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:04:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:04:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.636[deg]	[grasp_sample.py: 539]
-05/10 17:04:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:04:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:04:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:04:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:04:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:04:37 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 17:04:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:04:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:04:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:04:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.83s (batch: 4.26s, save: 10.57s)	[pipeline.py: 300]
-05/10 17:04:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s:
-  episode_total: mean=207.41s, total=207.41s, count=1, min=207409.9ms, max=207409.9ms
-  sensor_polling: mean=530.6ms, total=155.99s, count=294, min=453.3ms, max=918.9ms
-  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10569.5ms, max=10569.5ms
-  physics_step: mean=28.8ms, total=8.47s, count=294, min=19.0ms, max=124.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.5ms, max=4262.5ms
-  task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms
-  task_specific_sample: mean=591.7ms, total=591.7ms, count=1, min=591.7ms, max=591.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=581.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:04:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:04:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:04:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:04:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060965m	[env.py: 870]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93480186  1.20481256  0.06096538] yaw=-127.2deg	[env.py: 1019]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99876952  0.82859853  0.06096538] yaw=-157.8deg	[env.py: 1019]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79636018  0.11733088  0.06096538] yaw=160.2deg	[env.py: 1019]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:04:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms	[env.py: 1075]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.205, 0.061)	[env.py: 1079]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg	[env.py: 1082]
-05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:04:54 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:04:56 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:04:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:04:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 86.927[deg]	[grasp_sample.py: 539]
-05/10 17:04:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:04:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:04:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:04:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:04:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:04:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:04:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:04:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078392m	[env.py: 870]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:04:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9571973   1.27753501  0.07839204] yaw=-134.5deg	[env.py: 1019]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.7ms, total=289.8ms	[env.py: 1075]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 1.278, 0.078)	[env.py: 1079]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
-05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:05:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:05:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:05:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:05:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:05:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:05:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:05:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:05:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 17:05:01 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 17:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:05:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:05:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:05:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011764m	[env.py: 870]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89318162  0.32549141  0.01176414] yaw=171.4deg	[env.py: 1019]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9791416   0.14360797  0.01176414] yaw=146.6deg	[env.py: 1019]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.5ms, total=365.5ms	[env.py: 1075]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, 0.012)	[env.py: 1079]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
-05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:05:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:05:04 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:05:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:05:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:05:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:05:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:05:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:05:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.374[m] 90.207[deg]	[grasp_sample.py: 539]
-05/10 17:05:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:05:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:05:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:05:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:05:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:05:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:05:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:05:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:05:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:05:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.92s (batch: 4.80s, save: 9.12s)	[pipeline.py: 300]
-05/10 17:05:38 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s:
-  episode_total: mean=207.28s, total=207.28s, count=1, min=207282.7ms, max=207282.7ms
-  sensor_polling: mean=508.8ms, total=152.65s, count=300, min=441.5ms, max=838.0ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.5ms, max=9122.5ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=19.1ms, max=84.4ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4799.1ms, max=4799.1ms
-  task_sampling: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms
-  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=450.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:05:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:05:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:05:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:05:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:05:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:05:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:05:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008972m	[env.py: 870]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:05:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90480596  1.03917967  0.0089718 ] yaw=-138.1deg	[env.py: 1019]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01161    0.7781696  0.0089718] yaw=-167.4deg	[env.py: 1019]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9600325   0.61444584  0.0089718 ] yaw=-177.7deg	[env.py: 1019]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=382.8ms, total=382.9ms	[env.py: 1075]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 1.039, 0.009)	[env.py: 1079]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg	[env.py: 1082]
-05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:05:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:05:41 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:05:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:05:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:05:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:05:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:05:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:05:45 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.566[m] 86.854[deg]	[grasp_sample.py: 539]
-05/10 17:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:05:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:49 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:05:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:06:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:06:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:06:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.566[deg]	[grasp_sample.py: 539]
-05/10 17:06:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:06:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:06:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:06:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:06:12 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 17:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:06:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:06:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.808s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:06:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]	[grasp_sample.py: 539]
-05/10 17:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:06:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:06:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:06:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:06:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.97s (batch: 4.70s, save: 11.27s)	[pipeline.py: 300]
-05/10 17:06:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.87s:
-  episode_total: mean=203.51s, total=203.51s, count=1, min=203512.4ms, max=203512.4ms
-  sensor_polling: mean=528.5ms, total=150.08s, count=284, min=457.0ms, max=1040.9ms
-  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11266.1ms, max=11266.1ms
-  physics_step: mean=25.8ms, total=7.32s, count=284, min=18.2ms, max=121.8ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4703.3ms, max=4703.3ms
-  task_sampling: mean=873.5ms, total=873.5ms, count=1, min=873.5ms, max=873.5ms
-  task_specific_sample: mean=864.3ms, total=864.3ms, count=1, min=864.3ms, max=864.3ms
-  scene_randomize: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  mj_forward_sync: mean=557.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:06:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:06:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038847m	[env.py: 870]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81789351  0.39249442  0.03884694] yaw=181.2deg	[env.py: 1019]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85566066  0.70564347  0.03884694] yaw=-154.2deg	[env.py: 1019]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82887966  0.13838141  0.03884694] yaw=161.2deg	[env.py: 1019]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:06:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms	[env.py: 1075]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.392, 0.039)	[env.py: 1079]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.2 deg	[env.py: 1082]
-05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:06:31 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:06:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:06:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:06:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:06:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.415[m] 86.157[deg]	[grasp_sample.py: 539]
-05/10 17:06:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:06:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:06:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:06:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:06:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:06:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:06:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]	[grasp_sample.py: 539]
-05/10 17:06:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:06:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:06:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:06:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:06:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 17:06:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 17:06:52 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=0.44s:
-  episode_total: mean=156.23s, total=156.23s, count=1, min=156233.8ms, max=156233.8ms
-  sensor_polling: mean=521.9ms, total=98.65s, count=189, min=443.2ms, max=926.7ms
-  physics_step: mean=24.8ms, total=4.68s, count=189, min=13.0ms, max=68.6ms
-  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
-  task_specific_sample: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:06:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:06:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:06:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003954m	[env.py: 870]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73503568  0.38566862  0.00395391] yaw=173.4deg	[env.py: 1019]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80931307  1.11245414  0.00395391] yaw=-147.2deg	[env.py: 1019]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69214394  0.40749149  0.00395391] yaw=176.6deg	[env.py: 1019]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.6ms, total=148.7ms	[env.py: 1075]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.386, 0.004)	[env.py: 1079]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg	[env.py: 1082]
-05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:06:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:06:55 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:06:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:06:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:06:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:06:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:06:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:06:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.542[m] 93.060[deg]	[grasp_sample.py: 539]
-05/10 17:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:06:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:06:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 17:07:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:07:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:07:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:07:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:07:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.608[deg]	[grasp_sample.py: 539]
-05/10 17:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:07:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:07:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:07:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:07:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:07:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:07:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]	[grasp_sample.py: 539]
-05/10 17:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:07:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:07:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:07:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:07:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:08:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:08:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:08:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:08:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:08:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:08:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:08:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:08:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:08:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.00s (batch: 4.55s, save: 9.45s)	[pipeline.py: 300]
-05/10 17:08:49 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.68s:
-  episode_total: mean=77.15s, total=231.44s, count=3, min=2341.0ms, max=225636.8ms
-  sensor_polling: mean=530.4ms, total=159.12s, count=300, min=449.8ms, max=949.3ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.6ms, max=9445.6ms
-  physics_step: mean=26.4ms, total=7.92s, count=300, min=14.8ms, max=65.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.3ms, max=4550.3ms
-  task_sampling: mean=558.9ms, total=1.68s, count=3, min=452.2ms, max=651.5ms
-  task_specific_sample: mean=555.6ms, total=1.67s, count=3, min=448.2ms, max=649.0ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=505.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:08:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:08:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:08:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:08:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030724m	[env.py: 870]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95330517  0.96988563  0.03072429] yaw=-143.7deg	[env.py: 1019]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88364195  0.63828674  0.03072429] yaw=-175.6deg	[env.py: 1019]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82640332  0.31193072  0.03072429] yaw=162.0deg	[env.py: 1019]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms	[env.py: 1075]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.970, 0.031)	[env.py: 1079]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg	[env.py: 1082]
-05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:08:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:08:51 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:08:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:08:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:08:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:08:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.430[deg]	[grasp_sample.py: 539]
-05/10 17:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:08:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:08:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:08:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:08:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:09:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:09:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:09:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.86s (batch: 4.42s, save: 12.44s)	[pipeline.py: 300]
-05/10 17:09:13 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.71s:
-  episode_total: mean=212.84s, total=212.84s, count=1, min=212837.8ms, max=212837.8ms
-  sensor_polling: mean=516.1ms, total=154.83s, count=300, min=439.5ms, max=898.0ms
-  save_trajectories: mean=12.44s, total=12.44s, count=1, min=12441.8ms, max=12441.8ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=15.5ms, max=84.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.0ms, max=4420.0ms
-  task_sampling: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  task_specific_sample: mean=706.1ms, total=706.1ms, count=1, min=706.1ms, max=706.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=531.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:09:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:09:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:09:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:09:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:09:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:09:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:09:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073791m	[env.py: 870]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:09:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95317775  0.19067686  0.07379116] yaw=148.8deg	[env.py: 1019]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:09:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.0ms, total=417.0ms	[env.py: 1075]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.191, 0.074)	[env.py: 1079]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg	[env.py: 1082]
-05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:09:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:09:15 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:09:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:09:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:09:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:09:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:09:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:09:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 90.986[deg]	[grasp_sample.py: 539]
-05/10 17:09:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:09:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:09:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:09:22 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:09:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:09:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:09:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:09:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:09:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:09:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:10:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:10:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.83s (batch: 4.46s, save: 9.37s)	[pipeline.py: 300]
-05/10 17:10:03 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.73s, total=212.73s, count=1, min=212725.6ms, max=212725.6ms
-  sensor_polling: mean=524.7ms, total=157.41s, count=300, min=439.0ms, max=795.5ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9370.5ms, max=9370.5ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.9ms, max=117.1ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  task_sampling: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms
-  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=441.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:10:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:10:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:10:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077259m	[env.py: 870]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77681156  0.61100902  0.07725933] yaw=-175.9deg	[env.py: 1019]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90455869  0.48311657  0.07725933] yaw=-174.7deg	[env.py: 1019]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79535936  0.37121122  0.07725933] yaw=168.3deg	[env.py: 1019]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms	[env.py: 1075]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.611, 0.077)	[env.py: 1079]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg	[env.py: 1082]
-05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:10:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:10:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:10:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:10:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 86.810[deg]	[grasp_sample.py: 539]
-05/10 17:10:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:10:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:10:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:10:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:10:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:10:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:10:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.41s (batch: 4.28s, save: 8.13s)	[pipeline.py: 300]
-05/10 17:10:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
-  episode_total: mean=222.66s, total=222.66s, count=1, min=222661.3ms, max=222661.3ms
-  sensor_polling: mean=512.2ms, total=153.66s, count=300, min=448.6ms, max=947.6ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=15.9ms, max=74.0ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.0ms, max=4281.0ms
-  task_sampling: mean=502.9ms, total=502.9ms, count=1, min=502.9ms, max=502.9ms
-  task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=524.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:10:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:10:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:10:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014344m	[env.py: 870]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85201209  0.60554841  0.01434356] yaw=-171.9deg	[env.py: 1019]
-05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82581802  0.98306711  0.01434356] yaw=-143.3deg	[env.py: 1019]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74807173  0.5563308   0.01434356] yaw=-167.1deg	[env.py: 1019]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms	[env.py: 1075]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.606, 0.014)	[env.py: 1079]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
-05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:10:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:10:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:10:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:10:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 86.835[deg]	[grasp_sample.py: 539]
-05/10 17:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:10:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:10:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:11:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:11:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:11:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:11:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:11:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:11:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.154[deg]	[grasp_sample.py: 539]
-05/10 17:11:09 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:11:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:11:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:11:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:11:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:11:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032351m	[env.py: 870]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79958769  0.06933745  0.03235101] yaw=144.7deg	[env.py: 1019]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81277666  0.64057686  0.03235101] yaw=-162.3deg	[env.py: 1019]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87857134  1.07822462  0.03235101] yaw=-137.8deg	[env.py: 1019]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.9ms	[env.py: 1075]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.069, 0.032)	[env.py: 1079]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg	[env.py: 1082]
-05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:11:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:11:12 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:11:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:11:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.565[m] 93.510[deg]	[grasp_sample.py: 539]
-05/10 17:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:11:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:11:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:11:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:11:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:12:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:12:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:12:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:12:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:12:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.14s (batch: 4.31s, save: 9.83s)	[pipeline.py: 300]
-05/10 17:12:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s:
-  episode_total: mean=207.38s, total=207.38s, count=1, min=207383.5ms, max=207383.5ms
-  sensor_polling: mean=507.5ms, total=152.24s, count=300, min=436.5ms, max=1005.5ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9833.5ms, max=9833.5ms
-  physics_step: mean=24.9ms, total=7.46s, count=300, min=16.1ms, max=104.0ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
-  task_sampling: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms
-  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=588.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:12:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:12:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:12:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:12:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:12:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:12:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032475m	[env.py: 870]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75008473  0.82655655  0.03247539] yaw=-152.4deg	[env.py: 1019]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86441818  0.72024857  0.03247539] yaw=-170.9deg	[env.py: 1019]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76607369  0.30367906  0.03247539] yaw=164.2deg	[env.py: 1019]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.827, 0.032)	[env.py: 1079]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
-05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:12:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:12:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:12:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:12:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:12:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:12:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:12:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.240s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:12:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 86.309[deg]	[grasp_sample.py: 539]
-05/10 17:12:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:12:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:12:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:12:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:12:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:12:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:13:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:13:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:13:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:13:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:13:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:13:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.62s (batch: 4.34s, save: 11.28s)	[pipeline.py: 300]
-05/10 17:13:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s:
-  episode_total: mean=215.25s, total=215.25s, count=1, min=215248.3ms, max=215248.3ms
-  sensor_polling: mean=522.1ms, total=156.62s, count=300, min=451.5ms, max=933.3ms
-  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11281.6ms, max=11281.6ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.0ms, max=88.4ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.6ms, max=4335.6ms
-  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
-  task_specific_sample: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=415.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:13:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:13:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:13:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:13:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093589m	[env.py: 870]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70091235  0.74074463  0.09358929] yaw=-155.8deg	[env.py: 1019]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75550472  0.41921094  0.09358929] yaw=171.4deg	[env.py: 1019]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80566141  0.9516933   0.09358929] yaw=-159.8deg	[env.py: 1019]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:13:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.3ms	[env.py: 1075]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.741, 0.094)	[env.py: 1079]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
-05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:13:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:13:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:13:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:13:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 75.843[deg]	[grasp_sample.py: 539]
-05/10 17:13:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:13:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:13:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:13:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:13:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:13:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:13:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:14:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:14:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:14:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.42s (batch: 4.12s, save: 8.30s)	[pipeline.py: 300]
-05/10 17:14:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:14:08 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
-  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
-  sensor_polling: mean=530.0ms, total=159.01s, count=300, min=451.3ms, max=947.0ms
-  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8301.7ms, max=8301.7ms
-  physics_step: mean=25.5ms, total=7.66s, count=300, min=15.9ms, max=96.2ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.1ms, max=4120.1ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.4ms, total=402.4ms, count=1, min=402.4ms, max=402.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=435.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:14:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:14:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:14:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:14:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:14:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:14:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:14:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013440m	[env.py: 870]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:14:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7793246   0.29345708  0.01344034] yaw=177.3deg	[env.py: 1019]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90928358  0.17910897  0.01344034] yaw=163.1deg	[env.py: 1019]
-05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.0ms	[env.py: 1075]
-05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.293, 0.013)	[env.py: 1079]
-05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg	[env.py: 1082]
-05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
-05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:14:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:14:10 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:14:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:14:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:14:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:14:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:14:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:14:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 88.429[deg]	[grasp_sample.py: 539]
-05/10 17:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:14:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:14:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:14:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:14:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:14:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:14:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:14:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:14:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.94s (batch: 4.30s, save: 10.64s)	[pipeline.py: 300]
-05/10 17:14:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.16s:
-  episode_total: mean=164.63s, total=329.26s, count=2, min=114723.2ms, max=214541.5ms
-  sensor_polling: mean=529.0ms, total=256.06s, count=484, min=449.9ms, max=1065.2ms
-  physics_step: mean=26.0ms, total=12.59s, count=484, min=15.1ms, max=135.7ms
-  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.9ms, max=10642.9ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.9ms, max=4297.9ms
-  task_sampling: mean=582.5ms, total=1.16s, count=2, min=457.7ms, max=707.2ms
-  task_specific_sample: mean=577.0ms, total=1.15s, count=2, min=454.4ms, max=699.6ms
-  scene_randomize: mean=3.8ms, total=7.6ms, count=2, min=1.4ms, max=6.2ms
-  mj_forward_sync: mean=485.6us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:14:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:14:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:14:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070797m	[env.py: 870]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00525046  0.97234258  0.07079675] yaw=-144.6deg	[env.py: 1019]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99264433  1.20963474  0.07079675] yaw=-139.8deg	[env.py: 1019]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03464486  0.11978183  0.07079675] yaw=156.9deg	[env.py: 1019]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.7ms, total=283.8ms	[env.py: 1075]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.005, 0.972, 0.071)	[env.py: 1079]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
-05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:14:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:14:48 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:14:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:14:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:14:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:14:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 96.084[deg]	[grasp_sample.py: 539]
-05/10 17:14:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:14:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:14:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:14:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:14:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:15:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:15:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:15:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:15:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:15:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:15:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:15:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:15:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:15:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:15:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.24s (batch: 4.52s, save: 11.73s)	[pipeline.py: 300]
-05/10 17:15:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=213.15s, total=213.15s, count=1, min=213155.0ms, max=213155.0ms
-  sensor_polling: mean=516.7ms, total=155.00s, count=300, min=447.2ms, max=912.6ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.5ms, max=11725.5ms
-  physics_step: mean=24.9ms, total=7.46s, count=300, min=18.6ms, max=107.0ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.4ms, max=4519.4ms
-  task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms
-  task_specific_sample: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=620.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:15:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:15:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063799m	[env.py: 870]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95007769  0.98069745  0.06379923] yaw=-155.1deg	[env.py: 1019]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72498197  0.66252279  0.06379923] yaw=-168.1deg	[env.py: 1019]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78593238  0.26071855  0.06379923] yaw=163.2deg	[env.py: 1019]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.2ms, total=309.3ms	[env.py: 1075]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.981, 0.064)	[env.py: 1079]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
-05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:15:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:15:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:15:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:15:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:15:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:15:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 95.664[deg]	[grasp_sample.py: 539]
-05/10 17:15:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:16:31 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:16:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:16:54 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:16:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:16:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:17:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:17:06 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:17:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:17:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:17:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:17:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.91s (batch: 5.84s, save: 9.08s)	[pipeline.py: 300]
-05/10 17:17:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
-  episode_total: mean=208.12s, total=208.12s, count=1, min=208118.1ms, max=208118.1ms
-  sensor_polling: mean=521.6ms, total=156.48s, count=300, min=437.4ms, max=958.7ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9075.8ms, max=9075.8ms
-  physics_step: mean=25.3ms, total=7.59s, count=300, min=16.9ms, max=101.0ms
-  save_batch_prep: mean=5.84s, total=5.84s, count=1, min=5835.0ms, max=5835.0ms
-  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
-  task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=487.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:17:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:17:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:17:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:17:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:17:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:17:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:17:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071945m	[env.py: 870]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:17:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2051489   1.09014751  0.07194474] yaw=-133.7deg	[env.py: 1019]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87941551  1.11707535  0.07194474] yaw=-140.5deg	[env.py: 1019]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68809405  0.1187716   0.07194474] yaw=163.9deg	[env.py: 1019]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:17:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.090, 0.072)	[env.py: 1079]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
-05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:17:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:17:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:17:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:17:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:17:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:17:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:17:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:17:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 87.878[deg]	[grasp_sample.py: 539]
-05/10 17:17:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:17:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:17:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:17:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:17:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:17:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:17:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:17:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:17:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:17:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.49s (batch: 4.15s, save: 8.35s)	[pipeline.py: 300]
-05/10 17:17:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s:
-  episode_total: mean=209.81s, total=209.81s, count=1, min=209813.1ms, max=209813.1ms
-  sensor_polling: mean=543.1ms, total=162.93s, count=300, min=449.9ms, max=945.1ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8346.1ms, max=8346.1ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=121.4ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.9ms, max=4145.9ms
-  task_sampling: mean=580.0ms, total=580.0ms, count=1, min=580.0ms, max=580.0ms
-  task_specific_sample: mean=574.6ms, total=574.6ms, count=1, min=574.6ms, max=574.6ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=713.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:17:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:17:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048874m	[env.py: 870]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66208755  0.29235679  0.04887372] yaw=159.6deg	[env.py: 1019]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95144446  1.06900427  0.04887372] yaw=-152.2deg	[env.py: 1019]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms	[env.py: 1075]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.292, 0.049)	[env.py: 1079]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
-05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:17:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:17:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:17:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.937s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:17:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.607[m] 86.377[deg]	[grasp_sample.py: 539]
-05/10 17:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:17:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:17:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:17:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:17:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:18:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:18:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:18:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.51s (batch: 5.48s, save: 10.04s)	[pipeline.py: 300]
-05/10 17:18:17 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
-  episode_total: mean=209.31s, total=209.31s, count=1, min=209314.8ms, max=209314.8ms
-  sensor_polling: mean=527.8ms, total=158.35s, count=300, min=437.6ms, max=1059.8ms
-  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10038.4ms, max=10038.4ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=15.3ms, max=90.8ms
-  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5475.4ms, max=5475.4ms
-  task_sampling: mean=596.7ms, total=596.7ms, count=1, min=596.7ms, max=596.7ms
-  task_specific_sample: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:18:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:18:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:18:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:18:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:18:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027992m	[env.py: 870]
-05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65187472  0.6505924   0.02799177] yaw=-173.9deg	[env.py: 1019]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74310173  0.49157426  0.02799177] yaw=-180.6deg	[env.py: 1019]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88676339  0.21933042  0.02799177] yaw=158.4deg	[env.py: 1019]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms	[env.py: 1075]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.651, 0.028)	[env.py: 1079]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
-05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
-05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:18:19 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:18:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:18:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:18:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.629s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:18:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 94.662[deg]	[grasp_sample.py: 539]
-05/10 17:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:18:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:18:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:18:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:19:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:19:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:19:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:19:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.66s (batch: 5.01s, save: 10.65s)	[pipeline.py: 300]
-05/10 17:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:23 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s:
-  episode_total: mean=208.60s, total=208.60s, count=1, min=208602.2ms, max=208602.2ms
-  sensor_polling: mean=518.3ms, total=155.49s, count=300, min=443.0ms, max=876.4ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10649.9ms, max=10649.9ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.2ms, max=131.8ms
-  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5008.3ms, max=5008.3ms
-  task_sampling: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms
-  task_specific_sample: mean=604.4ms, total=604.4ms, count=1, min=604.4ms, max=604.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=639.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:19:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060089m	[env.py: 870]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90261797  0.94685028  0.06008931] yaw=-154.1deg	[env.py: 1019]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82228877  1.12341694  0.06008931] yaw=-132.9deg	[env.py: 1019]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98472537  1.13822196  0.06008931] yaw=-141.7deg	[env.py: 1019]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms	[env.py: 1075]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.947, 0.060)	[env.py: 1079]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
-05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:19:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:19:26 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:19:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:19:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:19:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:19:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.764[deg]	[grasp_sample.py: 539]
-05/10 17:19:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:19:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:19:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:19:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:19:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:19:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:19:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:19:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:19:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:19:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.304[deg]	[grasp_sample.py: 539]
-05/10 17:19:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:19:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:19:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:19:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.355[deg]	[grasp_sample.py: 539]
-05/10 17:19:38 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:19:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:19:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:19:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:19:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:19:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041211m	[env.py: 870]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96422574  0.83790477  0.04121141] yaw=-153.8deg	[env.py: 1019]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79949137  0.66778023  0.04121141] yaw=-163.4deg	[env.py: 1019]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82038026  0.18915596  0.04121141] yaw=150.4deg	[env.py: 1019]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:19:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.3ms, total=340.3ms	[env.py: 1075]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.838, 0.041)	[env.py: 1079]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
-05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:19:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:19:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:19:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:19:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:19:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:19:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:19:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.274s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:19:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 97.105[deg]	[grasp_sample.py: 539]
-05/10 17:19:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:19:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:19:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:19:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:19:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:19:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:20:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:20:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:20:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:20:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:20:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.690s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:20:22 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.784[deg]	[grasp_sample.py: 539]
-05/10 17:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:20:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:20:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:20:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:20:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:20:58 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.789s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:20:58 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.380[deg]	[grasp_sample.py: 539]
-05/10 17:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:20:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:20:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:21:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:21:06 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 17:21:06 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.52s:
-  episode_total: mean=204.78s, total=204.78s, count=1, min=204780.1ms, max=204780.1ms
-  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=436.5ms, max=864.3ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=14.8ms, max=87.8ms
-  task_sampling: mean=519.9ms, total=519.9ms, count=1, min=519.9ms, max=519.9ms
-  task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=541.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:21:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:21:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:21:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:21:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:21:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:21:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:21:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:21:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053024m	[env.py: 870]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:21:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179512  0.97827093  0.05302439] yaw=-159.8deg	[env.py: 1019]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65379461  0.68458045  0.05302439] yaw=-167.3deg	[env.py: 1019]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81753313  0.8920796   0.05302439] yaw=-161.7deg	[env.py: 1019]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:21:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.6ms	[env.py: 1075]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.978, 0.053)	[env.py: 1079]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
-05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:21:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:21:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:21:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:21:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:21:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:21:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.562[m] 75.624[deg]	[grasp_sample.py: 539]
-05/10 17:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:21:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:21:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:21:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:21:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:21:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:21:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.62s (batch: 4.24s, save: 9.38s)	[pipeline.py: 300]
-05/10 17:21:46 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=207.66s, total=207.66s, count=1, min=207660.9ms, max=207660.9ms
-  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=430.4ms, max=916.4ms
-  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9382.7ms, max=9382.7ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=15.4ms, max=128.0ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.6ms, max=4239.6ms
-  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
-  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:21:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:21:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:21:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:21:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007314m	[env.py: 870]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69288426  0.24179791  0.00731395] yaw=160.5deg	[env.py: 1019]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87494512  1.13147006  0.00731395] yaw=-143.7deg	[env.py: 1019]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87006284  0.71511875  0.00731395] yaw=-168.8deg	[env.py: 1019]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.5ms	[env.py: 1075]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.242, 0.007)	[env.py: 1079]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg	[env.py: 1082]
-05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:21:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:21:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:21:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.197s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:21:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:21:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:21:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:21:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.016s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:21:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.614[m] 93.337[deg]	[grasp_sample.py: 539]
-05/10 17:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:21:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:21:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:22:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:22:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:22:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:22:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:22:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:22:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:22:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:22:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:22:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:22:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:22:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.46s (batch: 4.15s, save: 9.31s)	[pipeline.py: 300]
-05/10 17:22:51 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=206.34s, total=206.34s, count=1, min=206341.1ms, max=206341.1ms
-  sensor_polling: mean=509.8ms, total=152.93s, count=300, min=437.4ms, max=992.7ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.1ms, max=9307.1ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=15.8ms, max=90.2ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.4ms, max=4151.4ms
-  task_sampling: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
-  task_specific_sample: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=470.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:22:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:22:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:22:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:22:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:22:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:22:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:22:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039504m	[env.py: 870]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:22:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63905087  0.42319579  0.03950405] yaw=170.0deg	[env.py: 1019]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90225319  0.96839777  0.03950405] yaw=-139.3deg	[env.py: 1019]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09221555  1.1553269   0.03950405] yaw=-134.1deg	[env.py: 1019]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:22:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.5ms, total=323.5ms	[env.py: 1075]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.639, 0.423, 0.040)	[env.py: 1079]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:22:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:22:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:22:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:22:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:22:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:22:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:22:54 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:22:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:22:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:22:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.674s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:22:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 92.644[deg]	[grasp_sample.py: 539]
-05/10 17:22:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:22:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:22:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:23:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:23:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:23:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.53s (batch: 5.14s, save: 11.39s)	[pipeline.py: 300]
-05/10 17:23:11 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.03s:
-  episode_total: mean=179.14s, total=358.27s, count=2, min=146860.5ms, max=211413.5ms
-  sensor_polling: mean=513.4ms, total=280.30s, count=546, min=427.3ms, max=1050.5ms
-  physics_step: mean=24.9ms, total=13.60s, count=546, min=16.1ms, max=124.2ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11388.3ms, max=11388.3ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5140.5ms, max=5140.5ms
-  task_sampling: mean=515.0ms, total=1.03s, count=2, min=377.4ms, max=652.6ms
-  task_specific_sample: mean=511.1ms, total=1.02s, count=2, min=373.7ms, max=648.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.7ms, max=2.5ms
-  mj_forward_sync: mean=509.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:23:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:23:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047686m	[env.py: 870]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86278248  0.48790772  0.04768634] yaw=-175.5deg	[env.py: 1019]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71780782  0.33594549  0.04768634] yaw=168.7deg	[env.py: 1019]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99902067  1.13381653  0.04768634] yaw=-128.2deg	[env.py: 1019]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:23:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=121.0ms	[env.py: 1075]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.488, 0.048)	[env.py: 1079]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
-05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:23:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:23:13 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:23:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:23:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.426[m] 96.009[deg]	[grasp_sample.py: 539]
-05/10 17:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:23:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:23:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:23:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:23:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:23:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:23:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:24:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:24:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:24:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:24:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:24:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.298[deg]	[grasp_sample.py: 539]
-05/10 17:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:24:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:24:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:24:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:24:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:24:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:24:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:24:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:24:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:24:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:24:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.15s, save: 9.05s)	[pipeline.py: 300]
-05/10 17:24:32 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.38s:
-  episode_total: mean=205.17s, total=205.17s, count=1, min=205166.1ms, max=205166.1ms
-  sensor_polling: mean=516.5ms, total=154.95s, count=300, min=442.4ms, max=905.9ms
-  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.0ms, max=9050.0ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=81.7ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
-  task_sampling: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
-  task_specific_sample: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=425.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:24:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:24:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:24:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:24:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:24:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:24:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:24:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002939m	[env.py: 870]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:24:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95357074  1.03202977  0.00293937] yaw=-133.4deg	[env.py: 1019]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71375855  0.17955533  0.00293937] yaw=154.9deg	[env.py: 1019]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20267193  1.08205376  0.00293937] yaw=-130.3deg	[env.py: 1019]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:24:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.7ms	[env.py: 1075]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 1.032, 0.003)	[env.py: 1079]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
-05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:24:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:24:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:24:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:24:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:24:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:24:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:24:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:24:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 85.504[deg]	[grasp_sample.py: 539]
-05/10 17:24:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:24:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:24:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:10 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:25:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:25:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:25:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:25:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]	[grasp_sample.py: 539]
-05/10 17:25:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:25:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:25:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:25:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:43 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:25:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:25:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:25:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:25:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.04s (batch: 4.92s, save: 9.12s)	[pipeline.py: 300]
-05/10 17:25:52 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.00s:
-  episode_total: mean=243.75s, total=243.75s, count=1, min=243749.0ms, max=243749.0ms
-  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=452.6ms, max=831.9ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.2ms, max=9122.2ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=17.6ms, max=105.4ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.6ms, max=4915.6ms
-  task_sampling: mean=1.00s, total=1.00s, count=1, min=1004.2ms, max=1004.2ms
-  task_specific_sample: mean=999.5ms, total=999.5ms, count=1, min=999.5ms, max=999.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=611.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:25:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:25:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:25:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:25:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:25:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:25:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037019m	[env.py: 870]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71672516  0.17855958  0.03701894] yaw=165.8deg	[env.py: 1019]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10541327  1.22030768  0.03701894] yaw=-132.7deg	[env.py: 1019]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01018772  1.31002052  0.03701894] yaw=-124.2deg	[env.py: 1019]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.179, 0.037)	[env.py: 1079]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
-05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:25:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:25:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:25:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:25:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:25:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:25:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:25:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.601[m] 95.352[deg]	[grasp_sample.py: 539]
-05/10 17:25:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:25:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:25:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:25:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:26:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:26:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:26:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:26:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.79s (batch: 4.88s, save: 8.91s)	[pipeline.py: 300]
-05/10 17:26:23 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.65s:
-  episode_total: mean=209.83s, total=209.83s, count=1, min=209827.6ms, max=209827.6ms
-  sensor_polling: mean=517.9ms, total=155.37s, count=300, min=440.2ms, max=1016.2ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8913.5ms, max=8913.5ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.5ms, max=93.6ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.2ms, max=4880.2ms
-  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
-  task_specific_sample: mean=645.4ms, total=645.4ms, count=1, min=645.4ms, max=645.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=525.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:26:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:26:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089918m	[env.py: 870]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89886955  1.07010146  0.08991766] yaw=-149.8deg	[env.py: 1019]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82383164  0.98757154  0.08991766] yaw=-157.4deg	[env.py: 1019]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80602179  0.42407297  0.08991766] yaw=186.2deg	[env.py: 1019]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms	[env.py: 1075]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.070, 0.090)	[env.py: 1079]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
-05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:26:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:26:25 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:26:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:26:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:26:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 82.388[deg]	[grasp_sample.py: 539]
-05/10 17:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:26:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:26:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:26:42 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:27:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:27:04 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:27:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:27:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:27:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:27:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:27:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:27:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:27:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.89s (batch: 4.32s, save: 8.57s)	[pipeline.py: 300]
-05/10 17:27:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
-  episode_total: mean=244.89s, total=244.89s, count=1, min=244885.2ms, max=244885.2ms
-  sensor_polling: mean=516.6ms, total=154.99s, count=300, min=452.0ms, max=757.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.5ms, max=8571.5ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=18.4ms, max=75.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.9ms, max=4321.9ms
-  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
-  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:27:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:27:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:27:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:27:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:27:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:27:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:27:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056143m	[env.py: 870]
-05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:27:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76487977  1.02911056  0.05614299] yaw=-140.8deg	[env.py: 1019]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.0ms, total=172.1ms	[env.py: 1075]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 1.029, 0.056)	[env.py: 1079]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
-05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:27:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:27:20 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:27:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:27:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:27:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:27:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:27:21 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:27:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:27:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.961s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:27:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.707[m] 104.478[deg]	[grasp_sample.py: 539]
-05/10 17:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:27:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:27:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:27:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:27:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:27:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:27:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:28:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:28:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:28:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.76s (batch: 4.40s, save: 9.36s)	[pipeline.py: 300]
-05/10 17:28:01 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=206.39s, total=206.39s, count=1, min=206389.7ms, max=206389.7ms
-  sensor_polling: mean=505.1ms, total=151.52s, count=300, min=429.4ms, max=735.0ms
-  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9360.7ms, max=9360.7ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.4ms, max=92.9ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
-  task_sampling: mean=516.9ms, total=516.9ms, count=1, min=516.9ms, max=516.9ms
-  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=416.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:28:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:28:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:28:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025267m	[env.py: 870]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6495169   0.40472941  0.02526703] yaw=179.8deg	[env.py: 1019]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74735011  0.29456883  0.02526703] yaw=162.9deg	[env.py: 1019]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80815211  1.09965361  0.02526703] yaw=-133.9deg	[env.py: 1019]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms	[env.py: 1075]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.405, 0.025)	[env.py: 1079]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.8 deg	[env.py: 1082]
-05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:28:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:28:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:28:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:28:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:28:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:28:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:28:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:28:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 96.421[deg]	[grasp_sample.py: 539]
-05/10 17:28:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:28:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:28:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:28:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:28:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:28:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:29:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:29:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:29:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:29:24 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:29:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:29:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:29:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.78s (batch: 5.08s, save: 9.70s)	[pipeline.py: 300]
-05/10 17:29:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=214.17s, total=214.17s, count=1, min=214173.3ms, max=214173.3ms
-  sensor_polling: mean=511.9ms, total=153.57s, count=300, min=448.0ms, max=797.3ms
-  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9696.6ms, max=9696.6ms
-  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.2ms, max=60.5ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5081.5ms, max=5081.5ms
-  task_sampling: mean=441.1ms, total=441.1ms, count=1, min=441.1ms, max=441.1ms
-  task_specific_sample: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=596.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:29:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:29:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091079m	[env.py: 870]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7509442   0.7270803   0.09107921] yaw=-168.2deg	[env.py: 1019]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09583779  1.01782562  0.09107921] yaw=-144.8deg	[env.py: 1019]
-05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64094598  0.4436323   0.09107921] yaw=167.7deg	[env.py: 1019]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:29:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.9ms, total=317.9ms	[env.py: 1075]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.727, 0.091)	[env.py: 1079]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
-05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
-05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:29:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:29:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:29:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:29:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:29:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:29:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:29:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 83.747[deg]	[grasp_sample.py: 539]
-05/10 17:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:29:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:29:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:29:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:29:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:29:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:29:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:30:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:30:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:30:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.13s (batch: 4.22s, save: 8.91s)	[pipeline.py: 300]
-05/10 17:30:02 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.38s:
-  episode_total: mean=217.44s, total=217.44s, count=1, min=217440.7ms, max=217440.7ms
-  sensor_polling: mean=517.2ms, total=155.15s, count=300, min=445.6ms, max=777.7ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.5ms, max=8912.5ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=15.5ms, max=62.7ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.4ms, max=4220.4ms
-  task_sampling: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
-  task_specific_sample: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=410.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:30:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:30:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:30:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:30:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068757m	[env.py: 870]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:30:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07853709  1.19261764  0.06875739] yaw=-125.8deg	[env.py: 1019]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92180884  0.43106909  0.06875739] yaw=186.6deg	[env.py: 1019]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms	[env.py: 1075]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 1.193, 0.069)	[env.py: 1079]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg	[env.py: 1082]
-05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:30:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:30:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:30:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:30:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:30:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.561s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:30:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 101.807[deg]	[grasp_sample.py: 539]
-05/10 17:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:30:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:30:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:30:09 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:30:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:30:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:30:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:30:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:30:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:30:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:30:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:30:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:30:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.98s (batch: 4.27s, save: 8.70s)	[pipeline.py: 300]
-05/10 17:30:45 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.56s:
-  episode_total: mean=205.61s, total=205.61s, count=1, min=205611.0ms, max=205611.0ms
-  sensor_polling: mean=512.7ms, total=153.80s, count=300, min=441.1ms, max=882.1ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.6ms, max=8703.6ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.4ms, max=76.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.4ms, max=4272.4ms
-  task_sampling: mean=557.3ms, total=557.3ms, count=1, min=557.3ms, max=557.3ms
-  task_specific_sample: mean=553.3ms, total=553.3ms, count=1, min=553.3ms, max=553.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=450.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:30:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:30:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:30:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:30:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:30:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:30:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:30:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039937m	[env.py: 870]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:30:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97790237  1.18738973  0.03993746] yaw=-127.3deg	[env.py: 1019]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98013548  0.85655849  0.03993746] yaw=-141.8deg	[env.py: 1019]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=570.5ms, total=570.5ms	[env.py: 1075]
-05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.187, 0.040)	[env.py: 1079]
-05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.3 deg	[env.py: 1082]
-05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
-05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:30:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:30:48 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:30:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:30:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:30:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:30:50 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:30:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.152s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:30:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.656[m] 104.230[deg]	[grasp_sample.py: 539]
-05/10 17:30:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:30:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:30:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:31:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:31:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:31:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:31:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:31:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:31:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:31:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:31:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 5.03s, save: 8.95s)	[pipeline.py: 300]
-05/10 17:31:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
-  episode_total: mean=210.42s, total=210.42s, count=1, min=210416.4ms, max=210416.4ms
-  sensor_polling: mean=514.8ms, total=154.45s, count=300, min=436.3ms, max=942.0ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.3ms, max=8947.3ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.0ms, max=78.1ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5029.9ms, max=5029.9ms
-  task_sampling: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
-  task_specific_sample: mean=442.8ms, total=442.8ms, count=1, min=442.8ms, max=442.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=431.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:31:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:31:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:31:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072628m	[env.py: 870]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7150578   0.64904781  0.07262835] yaw=-178.9deg	[env.py: 1019]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01787697  0.12065318  0.07262835] yaw=149.7deg	[env.py: 1019]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6749485   0.72885778  0.07262835] yaw=-162.3deg	[env.py: 1019]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:31:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms	[env.py: 1075]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.649, 0.073)	[env.py: 1079]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg	[env.py: 1082]
-05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:31:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:31:35 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:31:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:31:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:31:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 90.191[deg]	[grasp_sample.py: 539]
-05/10 17:31:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:31:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:31:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:32:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:32:16 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:32:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:32:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:32:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:32:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:32:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:32:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:32:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:32:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:32:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.086[deg]	[grasp_sample.py: 539]
-05/10 17:32:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:32:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:32:46 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:32:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:32:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:32:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:32:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094633m	[env.py: 870]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8700357   0.5216637   0.09463261] yaw=-170.6deg	[env.py: 1019]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72572802  0.71489559  0.09463261] yaw=-173.1deg	[env.py: 1019]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7962643   0.10225993  0.09463261] yaw=153.8deg	[env.py: 1019]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.522, 0.095)	[env.py: 1079]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
-05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:32:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:32:47 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:32:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 85.452[deg]	[grasp_sample.py: 539]
-05/10 17:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:32:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:32:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:32:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:33:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:33:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:33:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.87s (batch: 4.37s, save: 10.50s)	[pipeline.py: 300]
-05/10 17:33:01 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
-  episode_total: mean=212.03s, total=212.03s, count=1, min=212027.3ms, max=212027.3ms
-  sensor_polling: mean=513.7ms, total=154.11s, count=300, min=444.9ms, max=1019.7ms
-  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.8ms, max=10500.8ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.0ms, max=106.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.8ms, max=4366.8ms
-  task_sampling: mean=626.0ms, total=626.0ms, count=1, min=626.0ms, max=626.0ms
-  task_specific_sample: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:33:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:33:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:33:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:33:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080632m	[env.py: 870]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04181356  1.06795503  0.08063241] yaw=-149.2deg	[env.py: 1019]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78783006  0.37283871  0.08063241] yaw=167.5deg	[env.py: 1019]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08996294  0.92576279  0.08063241] yaw=-132.6deg	[env.py: 1019]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:33:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.1ms	[env.py: 1075]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.068, 0.081)	[env.py: 1079]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
-05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:33:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:33:03 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:33:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:33:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:33:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.843s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:33:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 86.133[deg]	[grasp_sample.py: 539]
-05/10 17:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:33:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:33:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:33:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:33:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:33:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:33:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:33:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:33:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:33:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.655s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 17:33:41 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 17:33:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:33:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:33:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:33:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:33:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:33:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:33:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:33:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005555m	[env.py: 870]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:33:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79796191  0.59032679  0.00555468] yaw=-171.8deg	[env.py: 1019]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65768666  0.59803248  0.00555468] yaw=-166.6deg	[env.py: 1019]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7340947   0.36144263  0.00555468] yaw=164.7deg	[env.py: 1019]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:33:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.590, 0.006)	[env.py: 1079]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
-05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:33:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:33:43 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:33:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:33:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:33:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:33:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:33:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:33:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 92.295[deg]	[grasp_sample.py: 539]
-05/10 17:33:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:33:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:33:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:34:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:34:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:34:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:34:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:34:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:34:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:34:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:35:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:35:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:35:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.22s (batch: 4.21s, save: 12.01s)	[pipeline.py: 300]
-05/10 17:35:10 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
-  episode_total: mean=215.04s, total=215.04s, count=1, min=215035.3ms, max=215035.3ms
-  sensor_polling: mean=523.8ms, total=157.13s, count=300, min=454.3ms, max=985.1ms
-  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12008.1ms, max=12008.1ms
-  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=73.9ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.9ms, max=4208.9ms
-  task_sampling: mean=492.8ms, total=492.8ms, count=1, min=492.8ms, max=492.8ms
-  task_specific_sample: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:35:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:35:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:35:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013682m	[env.py: 870]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97653745  0.18343455  0.01368157] yaw=148.6deg	[env.py: 1019]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19776336  1.11498076  0.01368157] yaw=-131.7deg	[env.py: 1019]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89518412  0.22370362  0.01368157] yaw=168.7deg	[env.py: 1019]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms	[env.py: 1075]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.183, 0.014)	[env.py: 1079]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg	[env.py: 1082]
-05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:35:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:35:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:35:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:35:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:35:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:35:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:35:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.370[m] 88.898[deg]	[grasp_sample.py: 539]
-05/10 17:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:35:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:35:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:35:33 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:35:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:35:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:35:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:35:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:35:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.292[deg]	[grasp_sample.py: 539]
-05/10 17:35:59 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:36:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084168m	[env.py: 870]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74264052  0.66169076  0.08416833] yaw=-177.1deg	[env.py: 1019]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0231657   0.11188859  0.08416833] yaw=140.5deg	[env.py: 1019]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.9ms, total=272.9ms	[env.py: 1075]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.662, 0.084)	[env.py: 1079]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
-05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:36:01 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:36:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.595[m] 102.653[deg]	[grasp_sample.py: 539]
-05/10 17:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:36:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:36:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:36:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:36:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:36:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:36:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:36:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:36:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.73s (batch: 4.39s, save: 12.34s)	[pipeline.py: 300]
-05/10 17:36:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.89s:
-  episode_total: mean=187.67s, total=375.35s, count=2, min=161090.6ms, max=214256.0ms
-  sensor_polling: mean=515.9ms, total=286.86s, count=556, min=438.9ms, max=1051.2ms
-  physics_step: mean=25.8ms, total=14.36s, count=556, min=15.5ms, max=148.1ms
-  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12340.1ms, max=12340.1ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.9ms, max=4387.9ms
-  task_sampling: mean=446.2ms, total=892.4ms, count=2, min=369.3ms, max=523.1ms
-  task_specific_sample: mean=442.5ms, total=885.0ms, count=2, min=365.9ms, max=519.1ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
-  mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:36:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:36:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032590m	[env.py: 870]
-05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.2ms, total=166.2ms	[env.py: 1105]
-05/10 17:36:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 17:36:23 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 17:36:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:36:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:36:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:36:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:36:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:36:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073044m	[env.py: 870]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:36:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.0ms, total=156.0ms	[env.py: 1105]
-05/10 17:36:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 17:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 17:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:36:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m	[env.py: 870]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85628692  1.0240235   0.04497494] yaw=-145.6deg	[env.py: 1019]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67045274  0.4570988   0.04497494] yaw=184.4deg	[env.py: 1019]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65920743  0.81893979  0.04497494] yaw=-171.2deg	[env.py: 1019]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms	[env.py: 1075]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 1.024, 0.045)	[env.py: 1079]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
-05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:36:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:36:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.630s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:36:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.573[m] 93.416[deg]	[grasp_sample.py: 539]
-05/10 17:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:36:32 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:36:32 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:36:32 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
-05/10 17:36:32 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4946.70s
-  House averages:
-  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
-  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
-  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
-  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
-  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
-  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
-  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 17:36:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 17:36:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4946.70s
-  Worker averages:
-  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
-  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
-  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
-  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
-  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
-  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
-  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 17:36:35 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 17:36:35 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
-05/10 17:36:35 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 17:36:37 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:36:59 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:36:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:36:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:37:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:37:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:37:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:37:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:37:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:37:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.362[deg]	[grasp_sample.py: 539]
-05/10 17:37:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:37:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:37:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:37:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.64s (batch: 4.20s, save: 8.44s)	[pipeline.py: 300]
-05/10 17:37:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:37:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.69s:
-  episode_total: mean=192.04s, total=384.07s, count=2, min=173598.9ms, max=210473.2ms
-  sensor_polling: mean=529.1ms, total=307.94s, count=582, min=439.0ms, max=950.2ms
-  physics_step: mean=26.8ms, total=15.61s, count=582, min=15.1ms, max=121.4ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8443.2ms, max=8443.2ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.3ms, max=4201.3ms
-  task_sampling: mean=847.0ms, total=1.69s, count=2, min=448.4ms, max=1245.5ms
-  task_specific_sample: mean=842.9ms, total=1.69s, count=2, min=445.2ms, max=1240.6ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=526.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:37:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:37:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:37:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:37:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:37:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034546m	[env.py: 870]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75350632  0.13593235  0.03454601] yaw=150.4deg	[env.py: 1019]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75932814  0.20555604  0.03454601] yaw=155.8deg	[env.py: 1019]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84895012  0.26176307  0.03454601] yaw=174.4deg	[env.py: 1019]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:37:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.2ms, total=114.2ms	[env.py: 1075]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.136, 0.035)	[env.py: 1079]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg	[env.py: 1082]
-05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:37:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:37:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:37:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:37:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:37:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:37:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.933s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:37:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.561[m] 82.330[deg]	[grasp_sample.py: 539]
-05/10 17:37:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:37:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:37:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:37:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:38:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:38:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:38:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:38:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:38:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:38:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:38:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.785[deg]	[grasp_sample.py: 539]
-05/10 17:38:10 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:38:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:38:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011567m	[env.py: 870]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97232301  1.18637109  0.01156734] yaw=-139.1deg	[env.py: 1019]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04901432  1.12286869  0.01156734] yaw=-144.6deg	[env.py: 1019]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06430825  1.09020911  0.01156734] yaw=-137.4deg	[env.py: 1019]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms	[env.py: 1075]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.186, 0.012)	[env.py: 1079]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
-05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:38:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:38:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.555[m] 83.844[deg]	[grasp_sample.py: 539]
-05/10 17:38:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:38:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:38:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:38:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:38:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:38:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:38:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:38:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089542m	[env.py: 870]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:38:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78416093  0.55597652  0.08954222] yaw=-173.1deg	[env.py: 1019]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95220744  0.64642095  0.08954222] yaw=-170.2deg	[env.py: 1019]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91171516  0.8768097   0.08954222] yaw=-163.0deg	[env.py: 1019]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:38:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.4ms	[env.py: 1075]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.556, 0.090)	[env.py: 1079]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
-05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:38:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:38:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:38:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:38:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:38:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:38:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:38:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.641s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:38:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 87.115[deg]	[grasp_sample.py: 539]
-05/10 17:38:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:38:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:38:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:38:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:38:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:38:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:38:42 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:39:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:39:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:39:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:39:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:39:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:39:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:39:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:39:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:39:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.42s (batch: 4.66s, save: 9.76s)	[pipeline.py: 300]
-05/10 17:39:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.97s:
-  episode_total: mean=191.09s, total=382.17s, count=2, min=176121.7ms, max=206050.6ms
-  sensor_polling: mean=510.5ms, total=296.61s, count=581, min=426.2ms, max=989.0ms
-  physics_step: mean=24.9ms, total=14.48s, count=581, min=16.2ms, max=98.8ms
-  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.5ms, max=9763.5ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.4ms, max=4659.4ms
-  task_sampling: mean=485.0ms, total=970.1ms, count=2, min=430.6ms, max=539.5ms
-  task_specific_sample: mean=481.5ms, total=963.0ms, count=2, min=426.7ms, max=536.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=427.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:39:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:39:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:39:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022779m	[env.py: 870]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95125534  1.00602707  0.02277898] yaw=-141.2deg	[env.py: 1019]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01935284  1.18761965  0.02277898] yaw=-144.9deg	[env.py: 1019]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85745569  1.02470961  0.02277898] yaw=-139.7deg	[env.py: 1019]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.1ms	[env.py: 1075]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.006, 0.023)	[env.py: 1079]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
-05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:39:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:39:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:39:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:39:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:39:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:39:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.521[m] 91.669[deg]	[grasp_sample.py: 539]
-05/10 17:39:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:39:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:39:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:40:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:40:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:40:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:40:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:40:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:40:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:40:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:40:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:40:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:40:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.26s (batch: 4.18s, save: 10.09s)	[pipeline.py: 300]
-05/10 17:40:44 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
-  episode_total: mean=210.02s, total=210.02s, count=1, min=210019.0ms, max=210019.0ms
-  sensor_polling: mean=525.3ms, total=157.60s, count=300, min=448.8ms, max=1130.4ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.0ms, max=10086.0ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=18.1ms, max=111.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.8ms, max=4177.8ms
-  task_sampling: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
-  task_specific_sample: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:40:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:40:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:40:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:40:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:40:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:40:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:40:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056516m	[env.py: 870]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:40:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94003423  0.16454842  0.05651629] yaw=157.8deg	[env.py: 1019]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76037567  0.49217918  0.05651629] yaw=-173.7deg	[env.py: 1019]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:40:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms	[env.py: 1075]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.165, 0.057)	[env.py: 1079]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg	[env.py: 1082]
-05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:40:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:40:46 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:40:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:40:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:40:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:40:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:40:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:40:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 86.319[deg]	[grasp_sample.py: 539]
-05/10 17:40:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:40:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:40:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:40:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:41:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:41:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:41:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:41:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:41:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:41:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:41:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.87s (batch: 4.01s, save: 8.86s)	[pipeline.py: 300]
-05/10 17:41:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.80s:
-  episode_total: mean=127.51s, total=382.53s, count=3, min=2986.7ms, max=201461.4ms
-  sensor_polling: mean=506.6ms, total=279.16s, count=551, min=423.3ms, max=1095.1ms
-  physics_step: mean=23.6ms, total=13.03s, count=551, min=14.6ms, max=67.5ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.6ms, max=8864.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.8ms, max=4008.8ms
-  task_sampling: mean=598.8ms, total=1.80s, count=3, min=587.9ms, max=618.5ms
-  task_specific_sample: mean=593.4ms, total=1.78s, count=3, min=583.9ms, max=609.9ms
-  scene_randomize: mean=3.8ms, total=11.3ms, count=3, min=1.8ms, max=7.1ms
-  mj_forward_sync: mean=491.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:41:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:41:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:41:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055595m	[env.py: 870]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03397762  0.8875124   0.05559498] yaw=-159.7deg	[env.py: 1019]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68489156  0.83624136  0.05559498] yaw=-155.5deg	[env.py: 1019]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7900286   0.10648065  0.05559498] yaw=160.3deg	[env.py: 1019]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=574.9ms, total=574.9ms	[env.py: 1075]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.888, 0.056)	[env.py: 1079]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
-05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:41:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:41:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:41:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:41:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:41:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:41:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.184s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.918[deg]	[grasp_sample.py: 539]
-05/10 17:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:41:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:41:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:42:12 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:42:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:42:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:42:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:42:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:42:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:42:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:42:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
-05/10 17:42:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:42:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:42:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.18s (batch: 4.10s, save: 11.09s)	[pipeline.py: 300]
-05/10 17:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:56 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.61s:
-  episode_total: mean=207.43s, total=207.43s, count=1, min=207425.6ms, max=207425.6ms
-  sensor_polling: mean=495.5ms, total=148.66s, count=300, min=426.5ms, max=1033.6ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11085.6ms, max=11085.6ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=15.4ms, max=119.6ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.5ms, max=4096.5ms
-  task_sampling: mean=606.1ms, total=606.1ms, count=1, min=606.1ms, max=606.1ms
-  task_specific_sample: mean=601.6ms, total=601.6ms, count=1, min=601.6ms, max=601.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=537.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:42:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:42:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:42:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:42:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:42:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:42:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015870m	[env.py: 870]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:42:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94581488  0.16438712  0.01587004] yaw=161.9deg	[env.py: 1019]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78884937  0.43339334  0.01587004] yaw=175.8deg	[env.py: 1019]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94734098  0.275493    0.01587004] yaw=173.6deg	[env.py: 1019]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms	[env.py: 1075]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.164, 0.016)	[env.py: 1079]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg	[env.py: 1082]
-05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:42:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:42:58 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:42:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:42:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:42:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:42:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:42:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:42:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:42:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:42:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:42:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.368[m] 84.831[deg]	[grasp_sample.py: 539]
-05/10 17:42:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:42:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:42:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
-05/10 17:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:43:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:43:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:43:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:43:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:43:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:43:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.348s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:43:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
-05/10 17:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:43:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:43:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:43:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:43:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 17:43:27 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 17:43:27 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
-  episode_total: mean=160.86s, total=160.86s, count=1, min=160861.3ms, max=160861.3ms
-  sensor_polling: mean=524.4ms, total=110.12s, count=210, min=427.2ms, max=1165.1ms
-  physics_step: mean=24.8ms, total=5.22s, count=210, min=12.9ms, max=119.9ms
-  task_sampling: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
-  task_specific_sample: mean=502.4ms, total=502.4ms, count=1, min=502.4ms, max=502.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:43:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:43:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070869m	[env.py: 870]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6965765   0.45003992  0.07086929] yaw=176.8deg	[env.py: 1019]
-05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69652137  0.28877264  0.07086929] yaw=179.6deg	[env.py: 1019]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87155419  0.6764731   0.07086929] yaw=-155.8deg	[env.py: 1019]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms	[env.py: 1075]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.450, 0.071)	[env.py: 1079]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
-05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
-05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:43:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:43:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:43:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:43:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:43:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:43:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.530[m] 83.337[deg]	[grasp_sample.py: 539]
-05/10 17:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:43:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:43:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:44:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:44:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:44:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:44:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:44:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:44:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:44:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:44:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:44:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:44:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.554[deg]	[grasp_sample.py: 539]
-05/10 17:44:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:44:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:44:48 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 17:44:49 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:44:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:44:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:44:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003239m	[env.py: 870]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74844951  0.19096303  0.00323913] yaw=169.6deg	[env.py: 1019]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82809614  0.07729581  0.00323913] yaw=164.9deg	[env.py: 1019]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87107734  0.06647943  0.00323913] yaw=149.8deg	[env.py: 1019]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms	[env.py: 1075]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.191, 0.003)	[env.py: 1079]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
-05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:44:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:44:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:44:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.131s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:44:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.533[m] 87.300[deg]	[grasp_sample.py: 539]
-05/10 17:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:44:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:44:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:45:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:45:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.23s (batch: 4.61s, save: 11.62s)	[pipeline.py: 300]
-05/10 17:45:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.92s:
-  episode_total: mean=205.31s, total=205.31s, count=1, min=205314.5ms, max=205314.5ms
-  sensor_polling: mean=514.3ms, total=152.75s, count=297, min=422.5ms, max=1106.1ms
-  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11621.6ms, max=11621.6ms
-  physics_step: mean=25.2ms, total=7.49s, count=297, min=18.0ms, max=73.8ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.1ms, max=4612.1ms
-  task_sampling: mean=915.7ms, total=915.7ms, count=1, min=915.7ms, max=915.7ms
-  task_specific_sample: mean=911.1ms, total=911.1ms, count=1, min=911.1ms, max=911.1ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=517.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:45:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:45:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:45:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:45:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:45:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:45:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:45:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075220m	[env.py: 870]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:45:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94408293  0.56574534  0.07521978] yaw=-173.2deg	[env.py: 1019]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95875377  0.72071778  0.07521978] yaw=-157.5deg	[env.py: 1019]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03255107  1.11767978  0.07521978] yaw=-143.3deg	[env.py: 1019]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms	[env.py: 1075]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.566, 0.075)	[env.py: 1079]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
-05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:45:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:45:07 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:45:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:45:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:45:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:45:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 75.748[deg]	[grasp_sample.py: 539]
-05/10 17:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:45:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:45:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:45:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:45:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:46:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:46:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:46:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:46:33 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:46:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:46:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:46:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:46:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.43s (batch: 4.12s, save: 8.31s)	[pipeline.py: 300]
-05/10 17:46:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
-  episode_total: mean=197.73s, total=197.73s, count=1, min=197730.3ms, max=197730.3ms
-  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=425.9ms, max=901.1ms
-  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8307.1ms, max=8307.1ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=15.3ms, max=114.7ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.1ms, max=4124.1ms
-  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=440.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:46:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:46:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:46:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:46:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:46:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:46:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:46:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018811m	[env.py: 870]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:46:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99026769  0.82555632  0.01881063] yaw=-144.2deg	[env.py: 1019]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99727605  1.29964612  0.01881063] yaw=-123.6deg	[env.py: 1019]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95585164  0.83276541  0.01881063] yaw=-143.6deg	[env.py: 1019]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:46:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=674.4ms, total=674.4ms	[env.py: 1075]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.826, 0.019)	[env.py: 1079]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg	[env.py: 1082]
-05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:46:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:46:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:46:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:46:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:46:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:46:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 97.087[deg]	[grasp_sample.py: 539]
-05/10 17:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:46:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:46:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:47:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:47:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:47:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:47:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:47:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:47:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:47:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:47:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:47:56 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:47:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:47:56 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
-05/10 17:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:48:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.15s (batch: 4.24s, save: 7.91s)	[pipeline.py: 300]
-05/10 17:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:48:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:48:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.59s (batch: 4.00s, save: 7.59s)	[pipeline.py: 300]
-05/10 17:48:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.90s:
-  episode_total: mean=153.87s, total=307.75s, count=2, min=110752.6ms, max=196996.6ms
-  sensor_polling: mean=494.2ms, total=240.20s, count=486, min=437.2ms, max=1065.0ms
-  physics_step: mean=24.5ms, total=11.91s, count=486, min=15.3ms, max=72.5ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7909.1ms, max=7909.1ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4242.7ms, max=4242.7ms
-  task_sampling: mean=448.4ms, total=896.7ms, count=2, min=437.4ms, max=459.4ms
-  task_specific_sample: mean=443.4ms, total=886.9ms, count=2, min=433.7ms, max=453.2ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.5ms
-  mj_forward_sync: mean=489.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:48:08 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
-  episode_total: mean=181.53s, total=181.53s, count=1, min=181529.6ms, max=181529.6ms
-  sensor_polling: mean=491.4ms, total=137.58s, count=280, min=437.7ms, max=791.6ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.4ms, max=7586.4ms
-  physics_step: mean=22.6ms, total=6.34s, count=280, min=15.3ms, max=36.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.0ms, max=4002.0ms
-  task_sampling: mean=501.3ms, total=501.3ms, count=1, min=501.3ms, max=501.3ms
-  task_specific_sample: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=401.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:48:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:48:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:48:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094005m	[env.py: 870]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67645912  0.67906522  0.09400473] yaw=-159.0deg	[env.py: 1019]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.0ms, total=253.1ms	[env.py: 1075]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.679, 0.094)	[env.py: 1079]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
-05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:48:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:48:10 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:48:10 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:48:10 INFO: [Worker 0] Worker 0 completed house 1: 11/14 successful episodes	[pipeline.py: 1323]
-05/10 17:48:10 INFO: [Worker 0] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=6176.26s
-  House averages:
-  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
-  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
-  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
-  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
-  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
-  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
-  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 17:48:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 17:48:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6176.26s
-  Worker averages:
-  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
-  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
-  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
-  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
-  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
-  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
-  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 17:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:48:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:48:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 93.699[deg]	[grasp_sample.py: 539]
-05/10 17:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:48:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:48:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:48:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 17:48:13 INFO: Success count: 11, Total count: 14	[pipeline.py: 1491]
-05/10 17:48:13 INFO: Success rate: 78.57%	[pipeline.py: 1492]
-05/10 17:49:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:49:15 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:49:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:49:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:49:36 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:49:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:49:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:49:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:49:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:49:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.75s (batch: 4.16s, save: 8.60s)	[pipeline.py: 300]
-05/10 17:49:49 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.95s:
-  episode_total: mean=181.60s, total=181.60s, count=1, min=181602.6ms, max=181602.6ms
-  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=430.9ms, max=702.1ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.3ms, max=8598.3ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=15.3ms, max=60.3ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4155.5ms, max=4155.5ms
-  task_sampling: mean=951.6ms, total=951.6ms, count=1, min=951.6ms, max=951.6ms
-  task_specific_sample: mean=947.7ms, total=947.7ms, count=1, min=947.7ms, max=947.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:49:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:49:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:49:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:49:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:49:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:49:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:49:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038916m	[env.py: 870]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:49:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95989546  0.15490859  0.03891584] yaw=163.8deg	[env.py: 1019]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8509482   0.61731675  0.03891584] yaw=-177.0deg	[env.py: 1019]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91610024  0.15764415  0.03891584] yaw=163.3deg	[env.py: 1019]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:49:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms	[env.py: 1075]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.155, 0.039)	[env.py: 1079]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
-05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:49:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:49:52 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:49:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:49:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:49:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:49:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:49:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:49:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 93.873[deg]	[grasp_sample.py: 539]
-05/10 17:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:49:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:49:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:50:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:50:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:50:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:50:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:50:58 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
-05/10 17:50:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:50:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
-05/10 17:51:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.14s (batch: 4.14s, save: 8.00s)	[pipeline.py: 300]
-05/10 17:51:11 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
-  episode_total: mean=181.36s, total=181.36s, count=1, min=181359.8ms, max=181359.8ms
-  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=429.2ms, max=704.1ms
-  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8000.9ms, max=8000.9ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=15.3ms, max=31.1ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.2ms, max=4138.2ms
-  task_sampling: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
-  task_specific_sample: mean=584.2ms, total=584.2ms, count=1, min=584.2ms, max=584.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=416.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:51:12 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:51:12 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:51:12 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
-05/10 17:51:12 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6569.09s
-  House averages:
-  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
-  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
-  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
-  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
-  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
-  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
-  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 17:51:12 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 17:51:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6569.09s
-  Worker averages:
-  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
-  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
-  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
-  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
-  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
-  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
-  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 17:51:15 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 17:51:15 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
-05/10 17:51:15 INFO: Success rate: 93.33%	[pipeline.py: 1492]
-05/10 17:51:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:51:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:51:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:51:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:51:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.230[deg]	[grasp_sample.py: 539]
-05/10 17:51:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:51:50 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:51:50 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
-05/10 17:51:50 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
-05/10 17:51:50 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6613.37s
-  House averages:
-  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
-  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
-  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
-  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
-  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
-  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 17:51:50 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 17:51:50 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6613.37s
-  Worker averages:
-  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
-  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
-  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
-  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
-  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
-  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 17:51:52 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 17:51:52 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
-05/10 17:51:52 INFO: Success rate: 93.33%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_004/shard_1_of_4.log b/fridge_7/chunk_004/shard_1_of_4.log
deleted file mode 100644
index ed7dd456acee3185fbd737514b4b64f831bc354c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_004/shard_1_of_4.log
+++ /dev/null
@@ -1,1874 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
-  shard=1/4  seed=20401  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7746eb0fd310>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20401,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 131146473902224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 131146473902224 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 131146473902224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 131146473902224 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 131146479284944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131146479284944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131146479284368 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131146479284368 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131146479284368 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131146479284368 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131146479284944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131146479284944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131146477454352 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131146477454352 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 131146477453776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131146477453776 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 131146477453776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 131146477453776 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 131146477454352 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 131146477454352 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 59737bc07a10 at 0x7746eb627350>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 59737bc09520 at 0x7746eb245790>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 59737bc09520 at 0x7746eb5b1590>
-[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 16:51:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:51:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:51:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020761m
-[05/10 16:51:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:51:14 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 16:51:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79766661  0.50718083  0.02076148] yaw=-175.2deg
-[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85698145  0.34753821  0.02076148] yaw=168.2deg
-[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1136326   0.95812965  0.02076148] yaw=-137.6deg
-[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:51:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:51:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=15.1ms, retries=84.1ms, total=99.1ms
-[05/10 16:51:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.507, 0.021)
-[05/10 16:51:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg
-[05/10 16:51:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.905m
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:51:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 16:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 31.326s
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 92.240[deg]
-[05/10 16:51:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:52:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:54:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 16:55:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:55:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 16:55:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:55:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 16:55:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:55:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 17.83s (batch: 4.63s, save: 13.20s)
-[05/10 16:55:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.32s:
-  episode_total: mean=250.58s, total=250.58s, count=1, min=250575.0ms, max=250575.0ms
-  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=451.9ms, max=868.1ms
-  save_trajectories: mean=13.20s, total=13.20s, count=1, min=13202.6ms, max=13202.6ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.2ms, max=74.2ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.9ms, max=4631.9ms
-  task_sampling: mean=3.32s, total=3.32s, count=1, min=3323.3ms, max=3323.3ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  task_specific_sample: mean=371.9ms, total=371.9ms, count=1, min=371.9ms, max=371.9ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:55:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:55:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:55:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 16:55:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:55:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:55:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076620m
-[05/10 16:55:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:55:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:55:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:55:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82343257  0.13654     0.07661975] yaw=147.3deg
-[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85921987  0.98368862  0.07661975] yaw=-147.5deg
-[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81021313  0.0102866   0.07661975] yaw=148.3deg
-[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:55:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:55:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=134.9ms
-[05/10 16:55:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.137, 0.077)
-[05/10 16:55:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.3 deg
-[05/10 16:55:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
-[05/10 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:55:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 16:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
-[05/10 16:55:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:55:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:55:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 16:55:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True
-[05/10 16:55:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.486[m] 83.805[deg]
-[05/10 16:55:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:56:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:57:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:57:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:57:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:58:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:58:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:58:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps
-[05/10 16:58:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True
-[05/10 16:58:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.317[deg]
-[05/10 16:58:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:58:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:58:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:58:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 16:58:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:58:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:58:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029858m
-[05/10 16:58:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:58:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:58:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16478897  1.15397728  0.02985841] yaw=-132.8deg
-[05/10 16:58:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:58:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=597.4ms, total=597.5ms
-[05/10 16:58:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.154, 0.030)
-[05/10 16:58:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
-[05/10 16:58:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.861m
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:58:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:58:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:58:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.116s
-[05/10 16:58:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:58:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:58:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 16:58:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True
-[05/10 16:58:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 87.609[deg]
-[05/10 16:58:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:58:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:00:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:00:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:00:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:00:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:00:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:00:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:00:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:00:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:00:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 17:00:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
-[05/10 17:00:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]
-[05/10 17:00:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:00:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:00:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:00:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 17:00:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:00:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:00:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058159m
-[05/10 17:00:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:00:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:00:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03059561  0.13822054  0.05815927] yaw=161.4deg
-[05/10 17:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99391468  1.03407053  0.05815927] yaw=-130.9deg
-[05/10 17:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:00:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:00:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms
-[05/10 17:00:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.138, 0.058)
-[05/10 17:00:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg
-[05/10 17:00:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.755m
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:00:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:00:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 17:00:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 17:00:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:00:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:00:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 17:00:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.477s, found feasible grasp: True
-[05/10 17:00:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.357[m] 89.921[deg]
-[05/10 17:00:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:01:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:02:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:02:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:02:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:02:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:02:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:02:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:02:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 84 non-colliding grasps
-[05/10 17:02:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.508s, found feasible grasp: True
-[05/10 17:02:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.876[deg]
-[05/10 17:02:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:02:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:03:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:03:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:03:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:03:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:03:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 17:03:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.733s, found feasible grasp: True
-[05/10 17:03:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.957[deg]
-[05/10 17:03:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:03:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 17:04:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:04:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:04:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps
-[05/10 17:04:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.866s, found feasible grasp: True
-[05/10 17:04:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.269[deg]
-[05/10 17:04:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:04:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
-[05/10 17:04:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=1.91s:
-  episode_total: mean=175.50s, total=526.51s, count=3, min=144538.3ms, max=222010.7ms
-  sensor_polling: mean=522.9ms, total=412.58s, count=789, min=434.0ms, max=949.7ms
-  physics_step: mean=25.0ms, total=19.70s, count=789, min=15.3ms, max=88.3ms
-  task_sampling: mean=635.4ms, total=1.91s, count=3, min=453.7ms, max=871.3ms
-  task_specific_sample: mean=631.5ms, total=1.89s, count=3, min=449.6ms, max=867.5ms
-  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.7ms
-  mj_forward_sync: mean=489.8us, total=1.5ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 17:04:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:04:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:04:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 17:04:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:04:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:04:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061022m
-[05/10 17:04:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:04:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:04:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95058998  0.29946864  0.0610222 ] yaw=166.6deg
-[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01330132  0.93919637  0.0610222 ] yaw=-144.3deg
-[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79825427  0.85730678  0.0610222 ] yaw=-161.2deg
-[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:04:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:04:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms
-[05/10 17:04:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.299, 0.061)
-[05/10 17:04:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg
-[05/10 17:04:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:04:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:04:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 17:04:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 17:04:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:04:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:04:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 17:04:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True
-[05/10 17:04:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.636[deg]
-[05/10 17:04:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:04:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:05:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:05:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:05:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:06:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:06:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:06:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
-[05/10 17:06:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True
-[05/10 17:06:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.566[deg]
-[05/10 17:06:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:06:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:06:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:06:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:06:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps
-[05/10 17:06:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.808s, found feasible grasp: True
-[05/10 17:06:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]
-[05/10 17:06:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:06:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:06:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 17:06:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:06:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:06:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/10 17:06:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.482s, found feasible grasp: True
-[05/10 17:06:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]
-[05/10 17:06:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:06:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:06:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:06:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:06:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 17:06:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=False
-[05/10 17:06:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=False episode_total=0.44s:
-  episode_total: mean=156.23s, total=156.23s, count=1, min=156233.8ms, max=156233.8ms
-  sensor_polling: mean=521.9ms, total=98.65s, count=189, min=443.2ms, max=926.7ms
-  physics_step: mean=24.8ms, total=4.68s, count=189, min=13.0ms, max=68.6ms
-  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
-  task_specific_sample: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:06:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:06:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:06:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/10 17:06:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:06:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:06:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003954m
-[05/10 17:06:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:06:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:06:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73503568  0.38566862  0.00395391] yaw=173.4deg
-[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80931307  1.11245414  0.00395391] yaw=-147.2deg
-[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69214394  0.40749149  0.00395391] yaw=176.6deg
-[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:06:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:06:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.6ms, total=148.7ms
-[05/10 17:06:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.386, 0.004)
-[05/10 17:06:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg
-[05/10 17:06:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.972m
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:06:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:06:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 17:06:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 17:06:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:06:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:06:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps
-[05/10 17:06:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True
-[05/10 17:06:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.542[m] 93.060[deg]
-[05/10 17:06:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:07:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:09:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:10:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:10:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:10:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:10:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:10:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:10:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.41s (batch: 4.28s, save: 8.13s)
-[05/10 17:10:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
-  episode_total: mean=222.66s, total=222.66s, count=1, min=222661.3ms, max=222661.3ms
-  sensor_polling: mean=512.2ms, total=153.66s, count=300, min=448.6ms, max=947.6ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=15.9ms, max=74.0ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.0ms, max=4281.0ms
-  task_sampling: mean=502.9ms, total=502.9ms, count=1, min=502.9ms, max=502.9ms
-  task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=524.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:10:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:10:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:10:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 17:10:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:10:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:10:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014344m
-[05/10 17:10:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:10:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:10:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85201209  0.60554841  0.01434356] yaw=-171.9deg
-[05/10 17:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:10:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82581802  0.98306711  0.01434356] yaw=-143.3deg
-[05/10 17:10:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:10:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:10:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74807173  0.5563308   0.01434356] yaw=-167.1deg
-[05/10 17:10:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:10:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:10:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms
-[05/10 17:10:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.606, 0.014)
-[05/10 17:10:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg
-[05/10 17:10:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.859m
-[05/10 17:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:10:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:10:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 17:10:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 17:10:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:10:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:10:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 17:10:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/10 17:10:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.430[m] 86.835[deg]
-[05/10 17:10:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:10:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:10:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:11:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:13:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:13:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:13:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:13:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:14:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:14:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:14:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.42s (batch: 4.12s, save: 8.30s)
-[05/10 17:14:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
-  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
-  sensor_polling: mean=530.0ms, total=159.01s, count=300, min=451.3ms, max=947.0ms
-  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8301.7ms, max=8301.7ms
-  physics_step: mean=25.5ms, total=7.66s, count=300, min=15.9ms, max=96.2ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.1ms, max=4120.1ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.4ms, total=402.4ms, count=1, min=402.4ms, max=402.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=435.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:14:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:14:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:14:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:14:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:14:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:14:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:14:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 17:14:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:14:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:14:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013440m
-[05/10 17:14:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:14:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:14:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:14:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7793246   0.29345708  0.01344034] yaw=177.3deg
-[05/10 17:14:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90928358  0.17910897  0.01344034] yaw=163.1deg
-[05/10 17:14:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:14:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:14:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.0ms
-[05/10 17:14:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.293, 0.013)
-[05/10 17:14:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg
-[05/10 17:14:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
-[05/10 17:14:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:14:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:14:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:14:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:14:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:14:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 17:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 17:14:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:14:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:14:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 17:14:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
-[05/10 17:14:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 88.429[deg]
-[05/10 17:14:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:15:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:15:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:17:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:17:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:17:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:17:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:17:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:17:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:17:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.49s (batch: 4.15s, save: 8.35s)
-[05/10 17:17:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s:
-  episode_total: mean=209.81s, total=209.81s, count=1, min=209813.1ms, max=209813.1ms
-  sensor_polling: mean=543.1ms, total=162.93s, count=300, min=449.9ms, max=945.1ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8346.1ms, max=8346.1ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=121.4ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.9ms, max=4145.9ms
-  task_sampling: mean=580.0ms, total=580.0ms, count=1, min=580.0ms, max=580.0ms
-  task_specific_sample: mean=574.6ms, total=574.6ms, count=1, min=574.6ms, max=574.6ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=713.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:17:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:17:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:17:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 17:17:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:17:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:17:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048874m
-[05/10 17:17:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:17:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:17:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66208755  0.29235679  0.04887372] yaw=159.6deg
-[05/10 17:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95144446  1.06900427  0.04887372] yaw=-152.2deg
-[05/10 17:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:17:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:17:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms
-[05/10 17:17:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.292, 0.049)
-[05/10 17:17:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg
-[05/10 17:17:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:17:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:17:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 17:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 17:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:17:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 17:17:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.937s, found feasible grasp: True
-[05/10 17:17:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.607[m] 86.377[deg]
-[05/10 17:17:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:19:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.304[deg]
-[05/10 17:19:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:20:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:20:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:20:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps
-[05/10 17:20:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.690s, found feasible grasp: True
-[05/10 17:20:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.784[deg]
-[05/10 17:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:20:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 17:20:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:20:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:20:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 68 non-colliding grasps
-[05/10 17:20:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.789s, found feasible grasp: True
-[05/10 17:20:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.380[deg]
-[05/10 17:20:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:21:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False
-[05/10 17:21:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=False episode_total=0.52s:
-  episode_total: mean=204.78s, total=204.78s, count=1, min=204780.1ms, max=204780.1ms
-  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=436.5ms, max=864.3ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=14.8ms, max=87.8ms
-  task_sampling: mean=519.9ms, total=519.9ms, count=1, min=519.9ms, max=519.9ms
-  task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=541.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:21:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:21:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:21:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 17:21:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:21:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:21:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053024m
-[05/10 17:21:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:21:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:21:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179512  0.97827093  0.05302439] yaw=-159.8deg
-[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65379461  0.68458045  0.05302439] yaw=-167.3deg
-[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81753313  0.8920796   0.05302439] yaw=-161.7deg
-[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:21:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:21:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.6ms
-[05/10 17:21:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.978, 0.053)
-[05/10 17:21:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg
-[05/10 17:21:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:21:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:21:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:21:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 17:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 17:21:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:21:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:21:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 17:21:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True
-[05/10 17:21:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.562[m] 75.624[deg]
-[05/10 17:21:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:23:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:24:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:24:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:24:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:24:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:24:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:24:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.15s, save: 9.05s)
-[05/10 17:24:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.38s:
-  episode_total: mean=205.17s, total=205.17s, count=1, min=205166.1ms, max=205166.1ms
-  sensor_polling: mean=516.5ms, total=154.95s, count=300, min=442.4ms, max=905.9ms
-  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.0ms, max=9050.0ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=81.7ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
-  task_sampling: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
-  task_specific_sample: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=425.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:24:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:24:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:24:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 17:24:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:24:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:24:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002939m
-[05/10 17:24:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:24:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:24:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95357074  1.03202977  0.00293937] yaw=-133.4deg
-[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71375855  0.17955533  0.00293937] yaw=154.9deg
-[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20267193  1.08205376  0.00293937] yaw=-130.3deg
-[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:24:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:24:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.7ms
-[05/10 17:24:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.954, 1.032, 0.003)
-[05/10 17:24:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg
-[05/10 17:24:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:24:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:24:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:24:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:24:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:24:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 17:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s
-[05/10 17:24:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:24:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:24:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps
-[05/10 17:24:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True
-[05/10 17:24:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.503[m] 85.504[deg]
-[05/10 17:24:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:27:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:27:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:27:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:27:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:28:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:28:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:28:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.76s (batch: 4.40s, save: 9.36s)
-[05/10 17:28:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=206.39s, total=206.39s, count=1, min=206389.7ms, max=206389.7ms
-  sensor_polling: mean=505.1ms, total=151.52s, count=300, min=429.4ms, max=735.0ms
-  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9360.7ms, max=9360.7ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.4ms, max=92.9ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
-  task_sampling: mean=516.9ms, total=516.9ms, count=1, min=516.9ms, max=516.9ms
-  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=416.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:28:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:28:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:28:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 17:28:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:28:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:28:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025267m
-[05/10 17:28:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:28:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:28:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6495169   0.40472941  0.02526703] yaw=179.8deg
-[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74735011  0.29456883  0.02526703] yaw=162.9deg
-[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80815211  1.09965361  0.02526703] yaw=-133.9deg
-[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:28:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:28:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms
-[05/10 17:28:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.405, 0.025)
-[05/10 17:28:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.8 deg
-[05/10 17:28:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.056m
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:28:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:28:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 17:28:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/10 17:28:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:28:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:28:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 17:28:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True
-[05/10 17:28:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.634[m] 96.421[deg]
-[05/10 17:28:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:30:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:31:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:31:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:31:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:31:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:31:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:31:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 5.03s, save: 8.95s)
-[05/10 17:31:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
-  episode_total: mean=210.42s, total=210.42s, count=1, min=210416.4ms, max=210416.4ms
-  sensor_polling: mean=514.8ms, total=154.45s, count=300, min=436.3ms, max=942.0ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.3ms, max=8947.3ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.0ms, max=78.1ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5029.9ms, max=5029.9ms
-  task_sampling: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
-  task_specific_sample: mean=442.8ms, total=442.8ms, count=1, min=442.8ms, max=442.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=431.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:31:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:31:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:31:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 17:31:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:31:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:31:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072628m
-[05/10 17:31:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:31:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:31:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7150578   0.64904781  0.07262835] yaw=-178.9deg
-[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01787697  0.12065318  0.07262835] yaw=149.7deg
-[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6749485   0.72885778  0.07262835] yaw=-162.3deg
-[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:31:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:31:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms
-[05/10 17:31:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.649, 0.073)
-[05/10 17:31:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg
-[05/10 17:31:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:31:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:31:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:31:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 17:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 17:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 17:31:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True
-[05/10 17:31:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.587[m] 90.191[deg]
-[05/10 17:31:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:32:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:33:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:34:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:34:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:34:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:34:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:35:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:35:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:35:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.22s (batch: 4.21s, save: 12.01s)
-[05/10 17:35:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
-  episode_total: mean=215.04s, total=215.04s, count=1, min=215035.3ms, max=215035.3ms
-  sensor_polling: mean=523.8ms, total=157.13s, count=300, min=454.3ms, max=985.1ms
-  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12008.1ms, max=12008.1ms
-  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=73.9ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.9ms, max=4208.9ms
-  task_sampling: mean=492.8ms, total=492.8ms, count=1, min=492.8ms, max=492.8ms
-  task_specific_sample: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:35:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:35:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:35:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 17:35:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:35:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:35:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013682m
-[05/10 17:35:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:35:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:35:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97653745  0.18343455  0.01368157] yaw=148.6deg
-[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19776336  1.11498076  0.01368157] yaw=-131.7deg
-[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89518412  0.22370362  0.01368157] yaw=168.7deg
-[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:35:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:35:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms
-[05/10 17:35:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.183, 0.014)
-[05/10 17:35:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg
-[05/10 17:35:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:35:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:35:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:35:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 17:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.156s
-[05/10 17:35:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:35:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:35:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps
-[05/10 17:35:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True
-[05/10 17:35:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.370[m] 88.898[deg]
-[05/10 17:35:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:36:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:37:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:37:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:37:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:37:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:37:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/10 17:37:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True
-[05/10 17:37:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.362[deg]
-[05/10 17:37:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:37:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:37:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:38:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:38:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:38:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps
-[05/10 17:38:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True
-[05/10 17:38:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.785[deg]
-[05/10 17:38:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:38:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:38:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:38:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 17:38:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:38:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:38:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011567m
-[05/10 17:38:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:38:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:38:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97232301  1.18637109  0.01156734] yaw=-139.1deg
-[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04901432  1.12286869  0.01156734] yaw=-144.6deg
-[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06430825  1.09020911  0.01156734] yaw=-137.4deg
-[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:38:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:38:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms
-[05/10 17:38:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.186, 0.012)
-[05/10 17:38:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg
-[05/10 17:38:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:38:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:38:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 17:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 17:38:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:38:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:38:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 17:38:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True
-[05/10 17:38:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.555[m] 83.844[deg]
-[05/10 17:38:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:38:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:38:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:38:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/10 17:38:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:38:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:38:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089542m
-[05/10 17:38:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:38:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:38:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:38:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:38:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78416093  0.55597652  0.08954222] yaw=-173.1deg
-[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95220744  0.64642095  0.08954222] yaw=-170.2deg
-[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91171516  0.8768097   0.08954222] yaw=-163.0deg
-[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:38:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:38:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.4ms
-[05/10 17:38:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.556, 0.090)
-[05/10 17:38:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg
-[05/10 17:38:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:38:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:38:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 17:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 17:38:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:38:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:38:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 17:38:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.641s, found feasible grasp: True
-[05/10 17:38:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.479[m] 87.115[deg]
-[05/10 17:38:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:40:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:41:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:41:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:41:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:41:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:41:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:41:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.87s (batch: 4.01s, save: 8.86s)
-[05/10 17:41:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.80s:
-  episode_total: mean=127.51s, total=382.53s, count=3, min=2986.7ms, max=201461.4ms
-  sensor_polling: mean=506.6ms, total=279.16s, count=551, min=423.3ms, max=1095.1ms
-  physics_step: mean=23.6ms, total=13.03s, count=551, min=14.6ms, max=67.5ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.6ms, max=8864.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.8ms, max=4008.8ms
-  task_sampling: mean=598.8ms, total=1.80s, count=3, min=587.9ms, max=618.5ms
-  task_specific_sample: mean=593.4ms, total=1.78s, count=3, min=583.9ms, max=609.9ms
-  scene_randomize: mean=3.8ms, total=11.3ms, count=3, min=1.8ms, max=7.1ms
-  mj_forward_sync: mean=491.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 17:41:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:41:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:41:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 17:41:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:41:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:41:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055595m
-[05/10 17:41:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:41:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:41:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03397762  0.8875124   0.05559498] yaw=-159.7deg
-[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68489156  0.83624136  0.05559498] yaw=-155.5deg
-[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7900286   0.10648065  0.05559498] yaw=160.3deg
-[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:41:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:41:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=574.9ms, total=574.9ms
-[05/10 17:41:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.888, 0.056)
-[05/10 17:41:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg
-[05/10 17:41:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:41:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:41:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:41:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 17:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/10 17:41:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:41:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:41:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 17:41:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.184s, found feasible grasp: True
-[05/10 17:41:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.918[deg]
-[05/10 17:41:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:42:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:42:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:44:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:44:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:44:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:44:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 17:45:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:45:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:45:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.23s (batch: 4.61s, save: 11.62s)
-[05/10 17:45:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.92s:
-  episode_total: mean=205.31s, total=205.31s, count=1, min=205314.5ms, max=205314.5ms
-  sensor_polling: mean=514.3ms, total=152.75s, count=297, min=422.5ms, max=1106.1ms
-  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11621.6ms, max=11621.6ms
-  physics_step: mean=25.2ms, total=7.49s, count=297, min=18.0ms, max=73.8ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.1ms, max=4612.1ms
-  task_sampling: mean=915.7ms, total=915.7ms, count=1, min=915.7ms, max=915.7ms
-  task_specific_sample: mean=911.1ms, total=911.1ms, count=1, min=911.1ms, max=911.1ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=517.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:45:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:45:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:45:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
-[05/10 17:45:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:45:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:45:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075220m
-[05/10 17:45:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:45:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:45:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94408293  0.56574534  0.07521978] yaw=-173.2deg
-[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95875377  0.72071778  0.07521978] yaw=-157.5deg
-[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03255107  1.11767978  0.07521978] yaw=-143.3deg
-[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:45:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:45:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms
-[05/10 17:45:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.566, 0.075)
-[05/10 17:45:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg
-[05/10 17:45:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.763m
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:45:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:45:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 17:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 17:45:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:45:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:45:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 17:45:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True
-[05/10 17:45:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.299[m] 75.748[deg]
-[05/10 17:45:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:45:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:45:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:47:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:47:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:47:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
-[05/10 17:47:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
-[05/10 17:48:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:48:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:48:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 11.59s (batch: 4.00s, save: 7.59s)
-[05/10 17:48:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
-  episode_total: mean=181.53s, total=181.53s, count=1, min=181529.6ms, max=181529.6ms
-  sensor_polling: mean=491.4ms, total=137.58s, count=280, min=437.7ms, max=791.6ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.4ms, max=7586.4ms
-  physics_step: mean=22.6ms, total=6.34s, count=280, min=15.3ms, max=36.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.0ms, max=4002.0ms
-  task_sampling: mean=501.3ms, total=501.3ms, count=1, min=501.3ms, max=501.3ms
-  task_specific_sample: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=401.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:48:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:48:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:48:10 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/14 successful episodes
-[05/10 17:48:10 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=6176.26s
-  House averages:
-  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
-  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
-  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
-  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
-  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
-  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
-  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:48:10 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 17:48:10 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6176.26s
-  Worker averages:
-  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
-  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
-  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
-  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
-  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
-  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
-  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
-  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
-  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
-  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
-  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
-  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
-  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
-  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
-  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
-  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:48:13 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 17:48:13 INFO pipeline.py:1491] Success count: 11, Total count: 14
-[05/10 17:48:13 INFO pipeline.py:1492] Success rate: 78.57%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
-==========================================
diff --git a/fridge_7/chunk_004/shard_2_of_4.log b/fridge_7/chunk_004/shard_2_of_4.log
deleted file mode 100644
index c12c51061942b359f3d9d638e23814ef86708d20..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_004/shard_2_of_4.log
+++ /dev/null
@@ -1,1750 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
-  shard=2/4  seed=20402  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:10 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 16:51:10 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 16:51:10 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 16:51:10 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d4337615f50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20402,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 16:51:10 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 16:51:10 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 137727641802832 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 137727641802832 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 137727641802832 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 137727641802832 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 137727646640080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137727646640080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137727646646160 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137727646646160 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137727646646160 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137727646646160 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137727646640080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137727646640080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137727642129808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137727642129808 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137727642125776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137727642125776 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 137727642125776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137727642125776 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137727642129808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137727642129808 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 570642080f80 at 0x7d4337b056d0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5706420aeb20 at 0x7d4337a29e50>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5706420aeb20 at 0x7d4337a90090>
-[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
-[05/10 16:51:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:51:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:51:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001928m
-[05/10 16:51:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:51:15 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 16:51:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09951756  1.22732743  0.00192841] yaw=-122.4deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82873466  0.48844664  0.00192841] yaw=-180.7deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62746716  0.66705975  0.00192841] yaw=-174.1deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=34.9ms, retries=239.7ms, total=274.6ms
-[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.227, 0.002)
-[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.959m
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 16:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 30.410s
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 16:51:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.843s, found feasible grasp: True
-[05/10 16:51:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.416[deg]
-[05/10 16:51:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:51:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:51:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:52:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:53:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:53:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:54:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:54:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:54:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/10 16:54:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
-[05/10 16:54:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.334[deg]
-[05/10 16:54:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:54:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:54:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 16:54:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:54:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:54:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 16:54:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.653s, found feasible grasp: True
-[05/10 16:54:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.837[deg]
-[05/10 16:54:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:55:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
-[05/10 16:55:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=4.83s:
-  episode_total: mean=234.20s, total=234.20s, count=1, min=234201.6ms, max=234201.6ms
-  sensor_polling: mean=531.0ms, total=159.31s, count=300, min=437.7ms, max=870.9ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.1ms, max=76.9ms
-  task_sampling: mean=4.83s, total=4.83s, count=1, min=4826.3ms, max=4826.3ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  task_specific_sample: mean=720.8ms, total=720.8ms, count=1, min=720.8ms, max=720.8ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=633.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:55:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:55:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 16:55:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:55:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:55:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082231m
-[05/10 16:55:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:55:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:55:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73835486  0.86721687  0.0822311 ] yaw=-148.1deg
-[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68710551  0.47996575  0.0822311 ] yaw=183.9deg
-[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76231803  0.41368338  0.0822311 ] yaw=171.7deg
-[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:55:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:55:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.1ms, total=213.2ms
-[05/10 16:55:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.867, 0.082)
-[05/10 16:55:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg
-[05/10 16:55:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
-[05/10 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:55:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 16:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 16:55:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:55:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:55:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 16:55:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.665s, found feasible grasp: True
-[05/10 16:55:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 93.227[deg]
-[05/10 16:55:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:56:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:56:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:57:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 16:58:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:58:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 16:58:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:58:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 16:58:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:58:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.25s (batch: 4.49s, save: 10.76s)
-[05/10 16:58:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=208.37s, total=208.37s, count=1, min=208374.6ms, max=208374.6ms
-  sensor_polling: mean=510.0ms, total=153.01s, count=300, min=431.3ms, max=1044.1ms
-  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10760.9ms, max=10760.9ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=50.9ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.6ms, max=4487.6ms
-  task_sampling: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
-  task_specific_sample: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:58:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:58:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:58:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/10 16:58:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:58:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:58:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083007m
-[05/10 16:58:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:58:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:58:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84848726  0.82161066  0.08300728] yaw=-152.6deg
-[05/10 16:58:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:58:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15559946  1.06861294  0.08300728] yaw=-127.0deg
-[05/10 16:58:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:58:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:58:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms
-[05/10 16:58:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.822, 0.083)
-[05/10 16:58:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg
-[05/10 16:58:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:58:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:58:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:58:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:58:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.153s
-[05/10 16:58:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:58:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:58:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 16:58:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.525s, found feasible grasp: True
-[05/10 16:58:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 91.420[deg]
-[05/10 16:58:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:01:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:01:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:01:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:01:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:02:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:02:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:02:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.90s (batch: 5.43s, save: 11.47s)
-[05/10 17:02:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
-  episode_total: mean=212.28s, total=212.28s, count=1, min=212275.2ms, max=212275.2ms
-  sensor_polling: mean=520.8ms, total=156.23s, count=300, min=448.8ms, max=1145.0ms
-  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11469.8ms, max=11469.8ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.8ms, max=69.3ms
-  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.8ms, max=5425.8ms
-  task_sampling: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
-  task_specific_sample: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=506.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:02:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:02:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:02:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 17:02:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:02:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:02:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053818m
-[05/10 17:02:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:02:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:02:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:02:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94241542  0.87983669  0.0538176 ] yaw=-150.1deg
-[05/10 17:02:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:02:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8904729   0.14087094  0.0538176 ] yaw=167.1deg
-[05/10 17:02:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:02:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:02:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.3ms
-[05/10 17:02:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.880, 0.054)
-[05/10 17:02:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg
-[05/10 17:02:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.858m
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:02:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:02:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 17:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 17:02:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:02:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:02:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 17:02:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True
-[05/10 17:02:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 95.759[deg]
-[05/10 17:02:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:04:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:05:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:05:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:05:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:05:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:05:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:05:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.92s (batch: 4.80s, save: 9.12s)
-[05/10 17:05:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s:
-  episode_total: mean=207.28s, total=207.28s, count=1, min=207282.7ms, max=207282.7ms
-  sensor_polling: mean=508.8ms, total=152.65s, count=300, min=441.5ms, max=838.0ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.5ms, max=9122.5ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=19.1ms, max=84.4ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4799.1ms, max=4799.1ms
-  task_sampling: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms
-  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=450.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:05:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:05:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:05:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:05:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:05:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:05:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:05:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 17:05:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:05:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:05:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008972m
-[05/10 17:05:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:05:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:05:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:05:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90480596  1.03917967  0.0089718 ] yaw=-138.1deg
-[05/10 17:05:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:05:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01161    0.7781696  0.0089718] yaw=-167.4deg
-[05/10 17:05:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:05:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:05:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:05:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9600325   0.61444584  0.0089718 ] yaw=-177.7deg
-[05/10 17:05:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:05:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:05:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=382.8ms, total=382.9ms
-[05/10 17:05:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 1.039, 0.009)
-[05/10 17:05:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg
-[05/10 17:05:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.973m
-[05/10 17:05:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:05:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:05:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:05:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:05:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:05:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 17:05:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s
-[05/10 17:05:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:05:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:05:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps
-[05/10 17:05:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.483s, found feasible grasp: True
-[05/10 17:05:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.566[m] 86.854[deg]
-[05/10 17:05:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:06:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 17:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:07:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:07:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:07:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 17:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.427s, found feasible grasp: True
-[05/10 17:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.608[deg]
-[05/10 17:07:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:07:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:08:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:08:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:08:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:08:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:09:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:09:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:09:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.86s (batch: 4.42s, save: 12.44s)
-[05/10 17:09:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.71s:
-  episode_total: mean=212.84s, total=212.84s, count=1, min=212837.8ms, max=212837.8ms
-  sensor_polling: mean=516.1ms, total=154.83s, count=300, min=439.5ms, max=898.0ms
-  save_trajectories: mean=12.44s, total=12.44s, count=1, min=12441.8ms, max=12441.8ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=15.5ms, max=84.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.0ms, max=4420.0ms
-  task_sampling: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
-  task_specific_sample: mean=706.1ms, total=706.1ms, count=1, min=706.1ms, max=706.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=531.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:09:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:09:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:09:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 17:09:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:09:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:09:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073791m
-[05/10 17:09:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:09:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:09:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:09:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95317775  0.19067686  0.07379116] yaw=148.8deg
-[05/10 17:09:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:09:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:09:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.0ms, total=417.0ms
-[05/10 17:09:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.191, 0.074)
-[05/10 17:09:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg
-[05/10 17:09:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:09:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:09:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 17:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 17:09:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:09:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:09:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 17:09:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True
-[05/10 17:09:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.397[m] 90.986[deg]
-[05/10 17:09:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:10:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:11:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:11:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:11:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 17:11:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.466s, found feasible grasp: True
-[05/10 17:11:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.154[deg]
-[05/10 17:11:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:11:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:11:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:11:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 17:11:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:11:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:11:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032351m
-[05/10 17:11:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:11:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:11:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79958769  0.06933745  0.03235101] yaw=144.7deg
-[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81277666  0.64057686  0.03235101] yaw=-162.3deg
-[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87857134  1.07822462  0.03235101] yaw=-137.8deg
-[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:11:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:11:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.9ms
-[05/10 17:11:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.069, 0.032)
-[05/10 17:11:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg
-[05/10 17:11:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:11:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:11:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:11:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 17:11:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 17:11:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:11:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:11:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 17:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True
-[05/10 17:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.565[m] 93.510[deg]
-[05/10 17:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:14:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:14:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:14:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:14:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:14:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:14:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:14:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.94s (batch: 4.30s, save: 10.64s)
-[05/10 17:14:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.16s:
-  episode_total: mean=164.63s, total=329.26s, count=2, min=114723.2ms, max=214541.5ms
-  sensor_polling: mean=529.0ms, total=256.06s, count=484, min=449.9ms, max=1065.2ms
-  physics_step: mean=26.0ms, total=12.59s, count=484, min=15.1ms, max=135.7ms
-  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.9ms, max=10642.9ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.9ms, max=4297.9ms
-  task_sampling: mean=582.5ms, total=1.16s, count=2, min=457.7ms, max=707.2ms
-  task_specific_sample: mean=577.0ms, total=1.15s, count=2, min=454.4ms, max=699.6ms
-  scene_randomize: mean=3.8ms, total=7.6ms, count=2, min=1.4ms, max=6.2ms
-  mj_forward_sync: mean=485.6us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:14:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:14:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:14:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 17:14:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:14:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:14:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070797m
-[05/10 17:14:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:14:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:14:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00525046  0.97234258  0.07079675] yaw=-144.6deg
-[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99264433  1.20963474  0.07079675] yaw=-139.8deg
-[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03464486  0.11978183  0.07079675] yaw=156.9deg
-[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:14:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:14:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.7ms, total=283.8ms
-[05/10 17:14:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.005, 0.972, 0.071)
-[05/10 17:14:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg
-[05/10 17:14:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:14:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:14:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:14:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 17:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 17:14:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:14:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:14:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 17:14:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
-[05/10 17:14:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 96.084[deg]
-[05/10 17:14:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:17:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:18:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:18:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:18:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.51s (batch: 5.48s, save: 10.04s)
-[05/10 17:18:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
-  episode_total: mean=209.31s, total=209.31s, count=1, min=209314.8ms, max=209314.8ms
-  sensor_polling: mean=527.8ms, total=158.35s, count=300, min=437.6ms, max=1059.8ms
-  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10038.4ms, max=10038.4ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=15.3ms, max=90.8ms
-  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5475.4ms, max=5475.4ms
-  task_sampling: mean=596.7ms, total=596.7ms, count=1, min=596.7ms, max=596.7ms
-  task_specific_sample: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:18:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:18:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:18:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:18:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:18:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:18:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:18:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 17:18:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:18:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:18:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027992m
-[05/10 17:18:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:18:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:18:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65187472  0.6505924   0.02799177] yaw=-173.9deg
-[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74310173  0.49157426  0.02799177] yaw=-180.6deg
-[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88676339  0.21933042  0.02799177] yaw=158.4deg
-[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:18:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:18:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms
-[05/10 17:18:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.651, 0.028)
-[05/10 17:18:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg
-[05/10 17:18:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.064m
-[05/10 17:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:18:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:18:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 17:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 17:18:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:18:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:18:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 17:18:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.629s, found feasible grasp: True
-[05/10 17:18:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 94.662[deg]
-[05/10 17:18:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:21:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:21:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:21:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:21:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:21:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:21:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:21:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.62s (batch: 4.24s, save: 9.38s)
-[05/10 17:21:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=207.66s, total=207.66s, count=1, min=207660.9ms, max=207660.9ms
-  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=430.4ms, max=916.4ms
-  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9382.7ms, max=9382.7ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=15.4ms, max=128.0ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.6ms, max=4239.6ms
-  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
-  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:21:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:21:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:21:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 17:21:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:21:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:21:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007314m
-[05/10 17:21:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:21:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:21:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69288426  0.24179791  0.00731395] yaw=160.5deg
-[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87494512  1.13147006  0.00731395] yaw=-143.7deg
-[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87006284  0.71511875  0.00731395] yaw=-168.8deg
-[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:21:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:21:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.5ms
-[05/10 17:21:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.242, 0.007)
-[05/10 17:21:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg
-[05/10 17:21:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:21:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:21:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 17:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.197s
-[05/10 17:21:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:21:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:21:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps
-[05/10 17:21:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.016s, found feasible grasp: True
-[05/10 17:21:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.614[m] 93.337[deg]
-[05/10 17:21:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:23:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:23:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:24:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:24:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:24:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:24:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/10 17:24:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.460s, found feasible grasp: True
-[05/10 17:24:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.298[deg]
-[05/10 17:24:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:24:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:25:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:25:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:25:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:25:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:25:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:25:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:25:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.04s (batch: 4.92s, save: 9.12s)
-[05/10 17:25:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.00s:
-  episode_total: mean=243.75s, total=243.75s, count=1, min=243749.0ms, max=243749.0ms
-  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=452.6ms, max=831.9ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.2ms, max=9122.2ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=17.6ms, max=105.4ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.6ms, max=4915.6ms
-  task_sampling: mean=1.00s, total=1.00s, count=1, min=1004.2ms, max=1004.2ms
-  task_specific_sample: mean=999.5ms, total=999.5ms, count=1, min=999.5ms, max=999.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=611.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:25:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:25:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:25:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 17:25:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:25:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:25:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037019m
-[05/10 17:25:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:25:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:25:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:25:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71672516  0.17855958  0.03701894] yaw=165.8deg
-[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10541327  1.22030768  0.03701894] yaw=-132.7deg
-[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01018772  1.31002052  0.03701894] yaw=-124.2deg
-[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:25:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:25:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms
-[05/10 17:25:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.179, 0.037)
-[05/10 17:25:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg
-[05/10 17:25:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:25:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:25:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:25:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 17:25:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 17:25:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:25:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:25:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 17:25:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
-[05/10 17:25:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.601[m] 95.352[deg]
-[05/10 17:25:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:27:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:28:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:29:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:29:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:29:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:29:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:29:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:29:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.78s (batch: 5.08s, save: 9.70s)
-[05/10 17:29:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=214.17s, total=214.17s, count=1, min=214173.3ms, max=214173.3ms
-  sensor_polling: mean=511.9ms, total=153.57s, count=300, min=448.0ms, max=797.3ms
-  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9696.6ms, max=9696.6ms
-  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.2ms, max=60.5ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5081.5ms, max=5081.5ms
-  task_sampling: mean=441.1ms, total=441.1ms, count=1, min=441.1ms, max=441.1ms
-  task_specific_sample: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=596.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:29:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:29:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:29:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:29:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:29:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:29:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:29:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 17:29:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:29:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:29:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091079m
-[05/10 17:29:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:29:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:29:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:29:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:29:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7509442   0.7270803   0.09107921] yaw=-168.2deg
-[05/10 17:29:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:29:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09583779  1.01782562  0.09107921] yaw=-144.8deg
-[05/10 17:29:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:29:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:29:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:29:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64094598  0.4436323   0.09107921] yaw=167.7deg
-[05/10 17:29:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:29:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:29:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.9ms, total=317.9ms
-[05/10 17:29:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.727, 0.091)
-[05/10 17:29:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg
-[05/10 17:29:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m
-[05/10 17:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:29:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:29:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 17:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 17:29:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:29:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:29:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/10 17:29:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
-[05/10 17:29:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 83.747[deg]
-[05/10 17:29:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:30:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:32:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:32:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:32:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:32:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:33:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:33:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:33:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.87s (batch: 4.37s, save: 10.50s)
-[05/10 17:33:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
-  episode_total: mean=212.03s, total=212.03s, count=1, min=212027.3ms, max=212027.3ms
-  sensor_polling: mean=513.7ms, total=154.11s, count=300, min=444.9ms, max=1019.7ms
-  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.8ms, max=10500.8ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.0ms, max=106.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.8ms, max=4366.8ms
-  task_sampling: mean=626.0ms, total=626.0ms, count=1, min=626.0ms, max=626.0ms
-  task_specific_sample: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:33:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:33:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:33:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/10 17:33:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:33:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:33:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080632m
-[05/10 17:33:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:33:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:33:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04181356  1.06795503  0.08063241] yaw=-149.2deg
-[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78783006  0.37283871  0.08063241] yaw=167.5deg
-[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08996294  0.92576279  0.08063241] yaw=-132.6deg
-[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:33:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:33:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.1ms
-[05/10 17:33:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.068, 0.081)
-[05/10 17:33:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg
-[05/10 17:33:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:33:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:33:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 17:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 17:33:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:33:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:33:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 17:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.843s, found feasible grasp: True
-[05/10 17:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.478[m] 86.133[deg]
-[05/10 17:33:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:35:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:35:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:35:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:35:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:35:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps
-[05/10 17:35:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.665s, found feasible grasp: True
-[05/10 17:35:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.292[deg]
-[05/10 17:35:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:36:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:36:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 17:36:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:36:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:36:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084168m
-[05/10 17:36:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:36:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:36:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74264052  0.66169076  0.08416833] yaw=-177.1deg
-[05/10 17:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0231657   0.11188859  0.08416833] yaw=140.5deg
-[05/10 17:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:36:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:36:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.9ms, total=272.9ms
-[05/10 17:36:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.662, 0.084)
-[05/10 17:36:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg
-[05/10 17:36:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:36:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 17:36:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 17:36:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:36:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:36:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 17:36:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True
-[05/10 17:36:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.595[m] 102.653[deg]
-[05/10 17:36:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:38:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:39:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:39:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:39:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:39:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:39:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:39:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.42s (batch: 4.66s, save: 9.76s)
-[05/10 17:39:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.97s:
-  episode_total: mean=191.09s, total=382.17s, count=2, min=176121.7ms, max=206050.6ms
-  sensor_polling: mean=510.5ms, total=296.61s, count=581, min=426.2ms, max=989.0ms
-  physics_step: mean=24.9ms, total=14.48s, count=581, min=16.2ms, max=98.8ms
-  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.5ms, max=9763.5ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.4ms, max=4659.4ms
-  task_sampling: mean=485.0ms, total=970.1ms, count=2, min=430.6ms, max=539.5ms
-  task_specific_sample: mean=481.5ms, total=963.0ms, count=2, min=426.7ms, max=536.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=427.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:39:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:39:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:39:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 17:39:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:39:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:39:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022779m
-[05/10 17:39:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:39:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:39:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95125534  1.00602707  0.02277898] yaw=-141.2deg
-[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01935284  1.18761965  0.02277898] yaw=-144.9deg
-[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85745569  1.02470961  0.02277898] yaw=-139.7deg
-[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:39:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:39:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.1ms
-[05/10 17:39:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.006, 0.023)
-[05/10 17:39:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg
-[05/10 17:39:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.916m
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:39:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:39:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 17:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.142s
-[05/10 17:39:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:39:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:39:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:39:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.528s, found feasible grasp: True
-[05/10 17:39:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.521[m] 91.669[deg]
-[05/10 17:39:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:42:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:42:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:42:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:42:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:42:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:42:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:42:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.18s (batch: 4.10s, save: 11.09s)
-[05/10 17:42:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.61s:
-  episode_total: mean=207.43s, total=207.43s, count=1, min=207425.6ms, max=207425.6ms
-  sensor_polling: mean=495.5ms, total=148.66s, count=300, min=426.5ms, max=1033.6ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11085.6ms, max=11085.6ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=15.4ms, max=119.6ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.5ms, max=4096.5ms
-  task_sampling: mean=606.1ms, total=606.1ms, count=1, min=606.1ms, max=606.1ms
-  task_specific_sample: mean=601.6ms, total=601.6ms, count=1, min=601.6ms, max=601.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=537.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:42:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:42:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:42:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 17:42:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:42:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:42:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015870m
-[05/10 17:42:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:42:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:42:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:42:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:42:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94581488  0.16438712  0.01587004] yaw=161.9deg
-[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78884937  0.43339334  0.01587004] yaw=175.8deg
-[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94734098  0.275493    0.01587004] yaw=173.6deg
-[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:42:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:42:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms
-[05/10 17:42:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.164, 0.016)
-[05/10 17:42:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg
-[05/10 17:42:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:42:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:42:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 17:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 17:42:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:42:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:42:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.368[m] 84.831[deg]
-[05/10 17:42:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:43:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:43:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:43:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:44:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:44:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:44:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 17:44:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True
-[05/10 17:44:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.554[deg]
-[05/10 17:44:49 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:44:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:44:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:44:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 17:44:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:44:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:44:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003239m
-[05/10 17:44:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:44:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:44:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74844951  0.19096303  0.00323913] yaw=169.6deg
-[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82809614  0.07729581  0.00323913] yaw=164.9deg
-[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87107734  0.06647943  0.00323913] yaw=149.8deg
-[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:44:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:44:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms
-[05/10 17:44:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.191, 0.003)
-[05/10 17:44:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
-[05/10 17:44:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.997m
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:44:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:44:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:44:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 17:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
-[05/10 17:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 17:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.131s, found feasible grasp: True
-[05/10 17:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.533[m] 87.300[deg]
-[05/10 17:44:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:47:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:47:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:47:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:47:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:48:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:48:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:48:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.15s (batch: 4.24s, save: 7.91s)
-[05/10 17:48:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.90s:
-  episode_total: mean=153.87s, total=307.75s, count=2, min=110752.6ms, max=196996.6ms
-  sensor_polling: mean=494.2ms, total=240.20s, count=486, min=437.2ms, max=1065.0ms
-  physics_step: mean=24.5ms, total=11.91s, count=486, min=15.3ms, max=72.5ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7909.1ms, max=7909.1ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4242.7ms, max=4242.7ms
-  task_sampling: mean=448.4ms, total=896.7ms, count=2, min=437.4ms, max=459.4ms
-  task_specific_sample: mean=443.4ms, total=886.9ms, count=2, min=433.7ms, max=453.2ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.5ms
-  mj_forward_sync: mean=489.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:48:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:48:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:48:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 17:48:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:48:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:48:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094005m
-[05/10 17:48:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:48:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:48:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67645912  0.67906522  0.09400473] yaw=-159.0deg
-[05/10 17:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:48:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:48:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.0ms, total=253.1ms
-[05/10 17:48:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.679, 0.094)
-[05/10 17:48:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg
-[05/10 17:48:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:48:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 17:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 17:48:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:48:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:48:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 17:48:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True
-[05/10 17:48:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 93.699[deg]
-[05/10 17:48:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:49:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:49:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:50:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:50:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:50:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
-[05/10 17:50:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:51:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:51:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:51:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.14s (batch: 4.14s, save: 8.00s)
-[05/10 17:51:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
-  episode_total: mean=181.36s, total=181.36s, count=1, min=181359.8ms, max=181359.8ms
-  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=429.2ms, max=704.1ms
-  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8000.9ms, max=8000.9ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=15.3ms, max=31.1ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.2ms, max=4138.2ms
-  task_sampling: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
-  task_specific_sample: mean=584.2ms, total=584.2ms, count=1, min=584.2ms, max=584.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=416.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:51:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:51:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:51:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes
-[05/10 17:51:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6569.09s
-  House averages:
-  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
-  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
-  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
-  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
-  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
-  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
-  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:51:12 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 17:51:12 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6569.09s
-  Worker averages:
-  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
-  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
-  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
-  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
-  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
-  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
-  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
-  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
-  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
-  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
-  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
-  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
-  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
-  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
-  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
-  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:51:15 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 17:51:15 INFO pipeline.py:1491] Success count: 14, Total count: 15
-[05/10 17:51:15 INFO pipeline.py:1492] Success rate: 93.33%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
-==========================================
diff --git a/fridge_7/chunk_004/shard_3_of_4.log b/fridge_7/chunk_004/shard_3_of_4.log
deleted file mode 100644
index d084d7a60f004c948d4975e7bafeb929c5926395..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_004/shard_3_of_4.log
+++ /dev/null
@@ -1,1605 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
-  shard=3/4  seed=20403  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x765f86c78a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20403,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130152651945872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130152651945872 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130152651945872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130152651945872 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130152653798096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130152653798096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130152653797840 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130152653797840 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130152653797840 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130152653797840 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130152653798096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130152653798096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130152652087952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130152652087952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130152652080272 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130152652080272 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130152652080272 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130152652080272 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130152652087952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130152652087952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 16:51:12 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c87976e0d80 at 0x765f8703eb90>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c879770e920 at 0x765f8704a850>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c879770e920 at 0x765f86fd1090>
-[05/10 16:51:15 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 16:51:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:51:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:51:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030327m
-[05/10 16:51:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:51:15 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 16:51:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74683193  0.43514448  0.03032691] yaw=184.4deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=374.4ms, total=390.8ms
-[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.435, 0.030)
-[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.957m
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 16:51:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.987s
-[05/10 16:51:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:51:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:51:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True
-[05/10 16:51:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 85.380[deg]
-[05/10 16:51:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:52:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:52:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:54:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 16:54:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:54:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 16:54:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:55:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 16:55:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:55:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.23s (batch: 4.10s, save: 10.12s)
-[05/10 16:55:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s:
-  episode_total: mean=242.78s, total=242.78s, count=1, min=242778.1ms, max=242778.1ms
-  sensor_polling: mean=525.7ms, total=157.71s, count=300, min=453.6ms, max=1035.2ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10120.9ms, max=10120.9ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.8ms, max=112.1ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.5ms, max=4104.5ms
-  task_sampling: mean=3.91s, total=3.91s, count=1, min=3906.0ms, max=3906.0ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=659.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:55:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:55:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 16:55:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:55:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:55:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006195m
-[05/10 16:55:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:55:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:55:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20249215  1.07275601  0.00619499] yaw=-136.2deg
-[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9363735   0.65799917  0.00619499] yaw=-163.3deg
-[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92782883  0.59133679  0.00619499] yaw=-166.0deg
-[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:55:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:55:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.4ms, total=275.4ms
-[05/10 16:55:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.202, 1.073, 0.006)
-[05/10 16:55:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg
-[05/10 16:55:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:55:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 16:55:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/10 16:55:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:55:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:55:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/10 16:55:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.655s, found feasible grasp: True
-[05/10 16:55:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 94.277[deg]
-[05/10 16:55:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 16:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 16:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 16:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 16:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 16:57:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 16:57:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 16:57:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:57:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:57:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
-[05/10 16:57:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.654s, found feasible grasp: True
-[05/10 16:57:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.243[deg]
-[05/10 16:57:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 16:57:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:57:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:57:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 16:57:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:57:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:57:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026620m
-[05/10 16:57:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:57:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:57:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84859588  0.03161113  0.02662041] yaw=148.3deg
-[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:57:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86885973  1.0917148   0.02662041] yaw=-153.2deg
-[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91098581  1.07170173  0.02662041] yaw=-138.0deg
-[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:57:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:57:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.8ms, total=105.8ms
-[05/10 16:57:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.032, 0.027)
-[05/10 16:57:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg
-[05/10 16:57:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:57:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:57:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:57:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 16:57:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:57:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:57:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 16:57:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.286s, found feasible grasp: True
-[05/10 16:57:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.505[m] 88.247[deg]
-[05/10 16:57:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:58:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:00:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:01:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:01:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:01:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:01:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:01:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:01:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.33s, save: 8.87s)
-[05/10 17:01:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.95s:
-  episode_total: mean=181.96s, total=363.92s, count=2, min=153396.0ms, max=210519.2ms
-  sensor_polling: mean=520.7ms, total=286.40s, count=550, min=445.8ms, max=991.5ms
-  physics_step: mean=26.2ms, total=14.41s, count=550, min=16.8ms, max=133.1ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.9ms, max=8869.9ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.1ms, max=4329.1ms
-  task_sampling: mean=473.4ms, total=946.8ms, count=2, min=366.9ms, max=579.9ms
-  task_specific_sample: mean=469.6ms, total=939.2ms, count=2, min=363.8ms, max=575.4ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=477.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:01:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:01:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:01:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 17:01:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:01:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:01:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039501m
-[05/10 17:01:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:01:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:01:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88894448  0.38690584  0.03950129] yaw=172.8deg
-[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74492887  0.16415057  0.03950129] yaw=166.9deg
-[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79208385  0.79436864  0.03950129] yaw=-164.9deg
-[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:01:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:01:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms
-[05/10 17:01:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.387, 0.040)
-[05/10 17:01:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg
-[05/10 17:01:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:01:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:01:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 17:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.292s
-[05/10 17:01:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:01:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:01:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:01:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.156s, found feasible grasp: True
-[05/10 17:01:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.366[m] 88.727[deg]
-[05/10 17:01:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:02:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:04:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:04:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:04:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:04:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
-[05/10 17:04:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:04:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:04:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.83s (batch: 4.26s, save: 10.57s)
-[05/10 17:04:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s:
-  episode_total: mean=207.41s, total=207.41s, count=1, min=207409.9ms, max=207409.9ms
-  sensor_polling: mean=530.6ms, total=155.99s, count=294, min=453.3ms, max=918.9ms
-  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10569.5ms, max=10569.5ms
-  physics_step: mean=28.8ms, total=8.47s, count=294, min=19.0ms, max=124.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.5ms, max=4262.5ms
-  task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms
-  task_specific_sample: mean=591.7ms, total=591.7ms, count=1, min=591.7ms, max=591.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=581.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:04:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:04:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:04:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 17:04:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:04:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:04:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060965m
-[05/10 17:04:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:04:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:04:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:04:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93480186  1.20481256  0.06096538] yaw=-127.2deg
-[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99876952  0.82859853  0.06096538] yaw=-157.8deg
-[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79636018  0.11733088  0.06096538] yaw=160.2deg
-[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:04:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:04:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms
-[05/10 17:04:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.205, 0.061)
-[05/10 17:04:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg
-[05/10 17:04:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:04:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:04:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 17:04:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 17:04:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:04:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:04:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 17:04:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True
-[05/10 17:04:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 86.927[deg]
-[05/10 17:04:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:04:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:04:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:04:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 17:04:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:04:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:04:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078392m
-[05/10 17:04:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:04:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:04:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9571973   1.27753501  0.07839204] yaw=-134.5deg
-[05/10 17:04:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:04:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:04:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.7ms, total=289.8ms
-[05/10 17:04:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 1.278, 0.078)
-[05/10 17:04:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg
-[05/10 17:04:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:04:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:05:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:05:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 17:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 17:05:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:05:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:05:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 17:05:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: False
-[05/10 17:05:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 17:05:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:05:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:05:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 17:05:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:05:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:05:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011764m
-[05/10 17:05:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:05:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:05:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:05:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89318162  0.32549141  0.01176414] yaw=171.4deg
-[05/10 17:05:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:05:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9791416   0.14360797  0.01176414] yaw=146.6deg
-[05/10 17:05:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:05:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:05:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.5ms, total=365.5ms
-[05/10 17:05:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, 0.012)
-[05/10 17:05:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg
-[05/10 17:05:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:05:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:05:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:05:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 17:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 17:05:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:05:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:05:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 17:05:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True
-[05/10 17:05:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.374[m] 90.207[deg]
-[05/10 17:05:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:05:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:07:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:07:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:07:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:07:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/10 17:07:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True
-[05/10 17:07:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]
-[05/10 17:07:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:07:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:08:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:08:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:08:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:08:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:08:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:08:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:08:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.00s (batch: 4.55s, save: 9.45s)
-[05/10 17:08:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.68s:
-  episode_total: mean=77.15s, total=231.44s, count=3, min=2341.0ms, max=225636.8ms
-  sensor_polling: mean=530.4ms, total=159.12s, count=300, min=449.8ms, max=949.3ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.6ms, max=9445.6ms
-  physics_step: mean=26.4ms, total=7.92s, count=300, min=14.8ms, max=65.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.3ms, max=4550.3ms
-  task_sampling: mean=558.9ms, total=1.68s, count=3, min=452.2ms, max=651.5ms
-  task_specific_sample: mean=555.6ms, total=1.67s, count=3, min=448.2ms, max=649.0ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=505.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 17:08:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:08:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:08:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 17:08:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:08:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:08:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030724m
-[05/10 17:08:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:08:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:08:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95330517  0.96988563  0.03072429] yaw=-143.7deg
-[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88364195  0.63828674  0.03072429] yaw=-175.6deg
-[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82640332  0.31193072  0.03072429] yaw=162.0deg
-[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:08:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:08:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms
-[05/10 17:08:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.970, 0.031)
-[05/10 17:08:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg
-[05/10 17:08:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.894m
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:08:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:08:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 17:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
-[05/10 17:08:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:08:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:08:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 17:08:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True
-[05/10 17:08:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.430[deg]
-[05/10 17:08:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:09:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:11:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:12:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:12:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:12:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:12:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:12:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:12:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.14s (batch: 4.31s, save: 9.83s)
-[05/10 17:12:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s:
-  episode_total: mean=207.38s, total=207.38s, count=1, min=207383.5ms, max=207383.5ms
-  sensor_polling: mean=507.5ms, total=152.24s, count=300, min=436.5ms, max=1005.5ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9833.5ms, max=9833.5ms
-  physics_step: mean=24.9ms, total=7.46s, count=300, min=16.1ms, max=104.0ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
-  task_sampling: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms
-  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=588.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:12:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:12:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:12:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 17:12:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:12:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:12:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032475m
-[05/10 17:12:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:12:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:12:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:12:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:12:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75008473  0.82655655  0.03247539] yaw=-152.4deg
-[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86441818  0.72024857  0.03247539] yaw=-170.9deg
-[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76607369  0.30367906  0.03247539] yaw=164.2deg
-[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:12:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:12:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.5ms
-[05/10 17:12:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.827, 0.032)
-[05/10 17:12:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg
-[05/10 17:12:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:12:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:12:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 17:12:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
-[05/10 17:12:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:12:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:12:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 17:12:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.240s, found feasible grasp: True
-[05/10 17:12:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.568[m] 86.309[deg]
-[05/10 17:12:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:15:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:15:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:15:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:15:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:15:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:15:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:15:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.24s (batch: 4.52s, save: 11.73s)
-[05/10 17:15:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=213.15s, total=213.15s, count=1, min=213155.0ms, max=213155.0ms
-  sensor_polling: mean=516.7ms, total=155.00s, count=300, min=447.2ms, max=912.6ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.5ms, max=11725.5ms
-  physics_step: mean=24.9ms, total=7.46s, count=300, min=18.6ms, max=107.0ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.4ms, max=4519.4ms
-  task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms
-  task_specific_sample: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=620.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:15:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:15:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:15:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/10 17:15:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:15:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:15:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063799m
-[05/10 17:15:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:15:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:15:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95007769  0.98069745  0.06379923] yaw=-155.1deg
-[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72498197  0.66252279  0.06379923] yaw=-168.1deg
-[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78593238  0.26071855  0.06379923] yaw=163.2deg
-[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:15:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:15:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.2ms, total=309.3ms
-[05/10 17:15:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.981, 0.064)
-[05/10 17:15:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg
-[05/10 17:15:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:15:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:15:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 17:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s
-[05/10 17:15:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:15:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 17:15:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True
-[05/10 17:15:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.499[m] 95.664[deg]
-[05/10 17:15:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:18:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:19:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:19:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:19:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:19:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:19:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:19:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.66s (batch: 5.01s, save: 10.65s)
-[05/10 17:19:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s:
-  episode_total: mean=208.60s, total=208.60s, count=1, min=208602.2ms, max=208602.2ms
-  sensor_polling: mean=518.3ms, total=155.49s, count=300, min=443.0ms, max=876.4ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10649.9ms, max=10649.9ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.2ms, max=131.8ms
-  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5008.3ms, max=5008.3ms
-  task_sampling: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms
-  task_specific_sample: mean=604.4ms, total=604.4ms, count=1, min=604.4ms, max=604.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=639.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:19:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:19:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:19:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 17:19:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:19:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:19:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060089m
-[05/10 17:19:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:19:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:19:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90261797  0.94685028  0.06008931] yaw=-154.1deg
-[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82228877  1.12341694  0.06008931] yaw=-132.9deg
-[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98472537  1.13822196  0.06008931] yaw=-141.7deg
-[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:19:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:19:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms
-[05/10 17:19:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.947, 0.060)
-[05/10 17:19:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
-[05/10 17:19:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.925m
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:19:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:19:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 17:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 17:19:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:19:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:19:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 17:19:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True
-[05/10 17:19:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.764[deg]
-[05/10 17:19:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:22:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:22:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:22:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:22:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:22:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:22:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:22:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.46s (batch: 4.15s, save: 9.31s)
-[05/10 17:22:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=206.34s, total=206.34s, count=1, min=206341.1ms, max=206341.1ms
-  sensor_polling: mean=509.8ms, total=152.93s, count=300, min=437.4ms, max=992.7ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.1ms, max=9307.1ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=15.8ms, max=90.2ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.4ms, max=4151.4ms
-  task_sampling: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
-  task_specific_sample: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=470.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:22:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:22:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:22:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 17:22:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:22:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:22:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039504m
-[05/10 17:22:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:22:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:22:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63905087  0.42319579  0.03950405] yaw=170.0deg
-[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90225319  0.96839777  0.03950405] yaw=-139.3deg
-[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09221555  1.1553269   0.03950405] yaw=-134.1deg
-[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:22:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:22:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.5ms, total=323.5ms
-[05/10 17:22:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.639, 0.423, 0.040)
-[05/10 17:22:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
-[05/10 17:22:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:22:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:22:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:22:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 17:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
-[05/10 17:22:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:22:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:22:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 17:22:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.674s, found feasible grasp: True
-[05/10 17:22:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.612[m] 92.644[deg]
-[05/10 17:22:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:24:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:24:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:25:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:26:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:26:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:26:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:26:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:26:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:26:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.79s (batch: 4.88s, save: 8.91s)
-[05/10 17:26:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.65s:
-  episode_total: mean=209.83s, total=209.83s, count=1, min=209827.6ms, max=209827.6ms
-  sensor_polling: mean=517.9ms, total=155.37s, count=300, min=440.2ms, max=1016.2ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8913.5ms, max=8913.5ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.5ms, max=93.6ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.2ms, max=4880.2ms
-  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
-  task_specific_sample: mean=645.4ms, total=645.4ms, count=1, min=645.4ms, max=645.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=525.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:26:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:26:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:26:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/10 17:26:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:26:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:26:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089918m
-[05/10 17:26:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:26:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:26:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89886955  1.07010146  0.08991766] yaw=-149.8deg
-[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82383164  0.98757154  0.08991766] yaw=-157.4deg
-[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:26:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80602179  0.42407297  0.08991766] yaw=186.2deg
-[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:26:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:26:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms
-[05/10 17:26:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.070, 0.090)
-[05/10 17:26:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg
-[05/10 17:26:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:26:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:26:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:26:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 17:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 17:26:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:26:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:26:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 17:26:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True
-[05/10 17:26:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.560[m] 82.388[deg]
-[05/10 17:26:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:27:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:27:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:27:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:29:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:29:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:29:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:29:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:29:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:29:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:29:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:29:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:29:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:30:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:30:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:30:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.13s (batch: 4.22s, save: 8.91s)
-[05/10 17:30:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.38s:
-  episode_total: mean=217.44s, total=217.44s, count=1, min=217440.7ms, max=217440.7ms
-  sensor_polling: mean=517.2ms, total=155.15s, count=300, min=445.6ms, max=777.7ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.5ms, max=8912.5ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=15.5ms, max=62.7ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.4ms, max=4220.4ms
-  task_sampling: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
-  task_specific_sample: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=410.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:30:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:30:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:30:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 17:30:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:30:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:30:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068757m
-[05/10 17:30:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:30:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:30:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07853709  1.19261764  0.06875739] yaw=-125.8deg
-[05/10 17:30:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:30:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92180884  0.43106909  0.06875739] yaw=186.6deg
-[05/10 17:30:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:30:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:30:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms
-[05/10 17:30:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.079, 1.193, 0.069)
-[05/10 17:30:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg
-[05/10 17:30:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:30:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:30:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 17:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 17:30:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:30:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:30:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:30:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.561s, found feasible grasp: True
-[05/10 17:30:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.562[m] 101.807[deg]
-[05/10 17:30:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:32:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:32:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:32:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:32:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps
-[05/10 17:32:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.745s, found feasible grasp: True
-[05/10 17:32:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.086[deg]
-[05/10 17:32:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:32:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:32:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:32:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/10 17:32:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:32:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:32:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094633m
-[05/10 17:32:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:32:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:32:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8700357   0.5216637   0.09463261] yaw=-170.6deg
-[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72572802  0.71489559  0.09463261] yaw=-173.1deg
-[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7962643   0.10225993  0.09463261] yaw=153.8deg
-[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:32:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:32:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms
-[05/10 17:32:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.522, 0.095)
-[05/10 17:32:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg
-[05/10 17:32:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:32:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:32:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 17:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 17:32:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:32:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:32:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 17:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/10 17:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 85.452[deg]
-[05/10 17:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:33:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:35:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:36:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:36:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
-[05/10 17:36:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:36:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:36:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:36:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.73s (batch: 4.39s, save: 12.34s)
-[05/10 17:36:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.89s:
-  episode_total: mean=187.67s, total=375.35s, count=2, min=161090.6ms, max=214256.0ms
-  sensor_polling: mean=515.9ms, total=286.86s, count=556, min=438.9ms, max=1051.2ms
-  physics_step: mean=25.8ms, total=14.36s, count=556, min=15.5ms, max=148.1ms
-  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12340.1ms, max=12340.1ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.9ms, max=4387.9ms
-  task_sampling: mean=446.2ms, total=892.4ms, count=2, min=369.3ms, max=523.1ms
-  task_specific_sample: mean=442.5ms, total=885.0ms, count=2, min=365.9ms, max=519.1ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
-  mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:36:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:36:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:36:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/10 17:36:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:36:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:36:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032590m
-[05/10 17:36:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:36:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:36:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:23 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.2ms, total=166.2ms
-[05/10 17:36:23 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 17:36:23 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 17:36:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:36:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:36:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 17:36:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:36:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:36:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073044m
-[05/10 17:36:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:36:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:36:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:24 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.0ms, total=156.0ms
-[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 17:36:24 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 17:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/10 17:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m
-[05/10 17:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85628692  1.0240235   0.04497494] yaw=-145.6deg
-[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67045274  0.4570988   0.04497494] yaw=184.4deg
-[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65920743  0.81893979  0.04497494] yaw=-171.2deg
-[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms
-[05/10 17:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 1.024, 0.045)
-[05/10 17:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
-[05/10 17:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 17:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 17:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 17:36:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.630s, found feasible grasp: True
-[05/10 17:36:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.573[m] 93.416[deg]
-[05/10 17:36:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:36:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:36:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:36:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
-[05/10 17:36:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4946.70s
-  House averages:
-  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
-  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
-  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
-  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
-  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
-  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
-  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:36:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 17:36:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4946.70s
-  Worker averages:
-  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
-  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
-  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
-  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
-  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
-  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
-  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
-  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
-  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
-  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
-  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
-  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
-  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
-  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
-  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
-  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
-  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:36:35 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 17:36:35 INFO pipeline.py:1491] Success count: 11, Total count: 11
-[05/10 17:36:35 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
-==========================================
diff --git a/fridge_7/chunk_004/shard_4_of_4.log b/fridge_7/chunk_004/shard_4_of_4.log
deleted file mode 100644
index 9adc9e5a747f5b64c92295c330133c0c0499e51d..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_004/shard_4_of_4.log
+++ /dev/null
@@ -1,1779 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
-  shard=4/4  seed=20404  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78e2033b7650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20404,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 132912107062224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132912107062224 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 132912107062224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132912107062224 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 132912110861392 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132912110861392 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132912110860880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132912110860880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132912110860880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132912110860880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132912110861392 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132912110861392 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132912107102160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132912107102160 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132912107100560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132912107100560 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 132912107100560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132912107100560 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132912107102160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132912107102160 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57c6f3194610 at 0x78e203787690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57c6f3195da0 at 0x78e202175c10>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57c6f3195da0 at 0x78e203721610>
-[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
-[05/10 16:51:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:51:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:51:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075250m
-[05/10 16:51:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:51:14 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 16:51:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:51:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81497616  0.07697924  0.07525023] yaw=145.9deg
-[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.817896    0.31723752  0.07525023] yaw=160.3deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80449776  0.46495691  0.07525023] yaw=178.5deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=115.4ms, total=130.2ms
-[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.077, 0.075)
-[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg
-[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 16:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.452s
-[05/10 16:51:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:51:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:51:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 16:51:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.332s, found feasible grasp: True
-[05/10 16:51:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.507[m] 81.826[deg]
-[05/10 16:51:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:52:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:52:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 16:55:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:55:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 16:55:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:55:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 16:55:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:55:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 17.02s (batch: 5.60s, save: 11.43s)
-[05/10 16:55:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.10s:
-  episode_total: mean=256.88s, total=256.88s, count=1, min=256877.0ms, max=256877.0ms
-  sensor_polling: mean=540.4ms, total=162.12s, count=300, min=456.6ms, max=948.5ms
-  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.8ms, max=11428.8ms
-  physics_step: mean=26.9ms, total=8.07s, count=300, min=18.3ms, max=94.6ms
-  save_batch_prep: mean=5.60s, total=5.60s, count=1, min=5595.6ms, max=5595.6ms
-  task_sampling: mean=4.10s, total=4.10s, count=1, min=4101.4ms, max=4101.4ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  task_specific_sample: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=404.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=35.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:55:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:55:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 16:55:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:55:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:55:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028288m
-[05/10 16:55:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:55:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:55:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:55:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72072348  0.21078079  0.02828766] yaw=168.6deg
-[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72924306  0.87895691  0.02828766] yaw=-167.7deg
-[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88261016  0.79878013  0.02828766] yaw=-148.3deg
-[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 16:55:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:55:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms
-[05/10 16:55:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.211, 0.028)
-[05/10 16:55:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg
-[05/10 16:55:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.018m
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:55:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:55:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 16:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 16:55:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:55:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:55:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 16:55:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True
-[05/10 16:55:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 94.848[deg]
-[05/10 16:55:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 16:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 16:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 16:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 16:58:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 16:58:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:58:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 16:58:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 16:59:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 16:59:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 16:59:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 4.23s, save: 9.75s)
-[05/10 16:59:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
-  episode_total: mean=214.86s, total=214.86s, count=1, min=214864.7ms, max=214864.7ms
-  sensor_polling: mean=529.1ms, total=158.73s, count=300, min=459.8ms, max=1095.3ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.3ms, max=9749.3ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.9ms, max=134.6ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.5ms, max=4229.5ms
-  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
-  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=432.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 16:59:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 16:59:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 16:59:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:59:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:59:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:59:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:59:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/10 16:59:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 16:59:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 16:59:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063641m
-[05/10 16:59:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 16:59:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 16:59:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:59:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71948169 -0.00245467  0.0636405 ] yaw=151.7deg
-[05/10 16:59:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 16:59:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88081432  0.3994378   0.0636405 ] yaw=173.4deg
-[05/10 16:59:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 16:59:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 16:59:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=597.6ms, total=597.7ms
-[05/10 16:59:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, -0.002, 0.064)
-[05/10 16:59:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg
-[05/10 16:59:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
-[05/10 16:59:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 16:59:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 16:59:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 16:59:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 16:59:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 16:59:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 16:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s
-[05/10 16:59:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 16:59:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 16:59:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 16:59:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.897s, found feasible grasp: True
-[05/10 16:59:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.671[m] 96.856[deg]
-[05/10 16:59:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 16:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 16:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:00:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:00:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:01:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:01:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:01:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps
-[05/10 17:02:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True
-[05/10 17:02:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.168[deg]
-[05/10 17:02:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:02:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:02:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:02:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:02:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:03:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:03:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:03:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.07s (batch: 4.36s, save: 9.71s)
-[05/10 17:03:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235735.5ms, max=235735.5ms
-  sensor_polling: mean=514.7ms, total=154.42s, count=300, min=447.4ms, max=823.5ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9708.6ms, max=9708.6ms
-  physics_step: mean=24.7ms, total=7.41s, count=300, min=13.9ms, max=61.3ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.1ms, max=4364.1ms
-  task_sampling: mean=917.9ms, total=917.9ms, count=1, min=917.9ms, max=917.9ms
-  task_specific_sample: mean=903.2ms, total=903.2ms, count=1, min=903.2ms, max=903.2ms
-  scene_randomize: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
-  mj_forward_sync: mean=580.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:03:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:03:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:03:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 17:03:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:03:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:03:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040872m
-[05/10 17:03:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:03:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:03:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97274775  0.69034929  0.04087243] yaw=-153.9deg
-[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93603365  0.89222485  0.04087243] yaw=-151.4deg
-[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14757969  1.16884906  0.04087243] yaw=-139.5deg
-[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:03:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:03:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.8ms, total=388.9ms
-[05/10 17:03:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.690, 0.041)
-[05/10 17:03:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg
-[05/10 17:03:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:03:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:03:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 17:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.189s
-[05/10 17:03:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:03:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:03:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps
-[05/10 17:03:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True
-[05/10 17:03:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.316[m] 85.838[deg]
-[05/10 17:03:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:05:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:06:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:06:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:06:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
-[05/10 17:06:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:06:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:06:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.97s (batch: 4.70s, save: 11.27s)
-[05/10 17:06:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.87s:
-  episode_total: mean=203.51s, total=203.51s, count=1, min=203512.4ms, max=203512.4ms
-  sensor_polling: mean=528.5ms, total=150.08s, count=284, min=457.0ms, max=1040.9ms
-  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11266.1ms, max=11266.1ms
-  physics_step: mean=25.8ms, total=7.32s, count=284, min=18.2ms, max=121.8ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4703.3ms, max=4703.3ms
-  task_sampling: mean=873.5ms, total=873.5ms, count=1, min=873.5ms, max=873.5ms
-  task_specific_sample: mean=864.3ms, total=864.3ms, count=1, min=864.3ms, max=864.3ms
-  scene_randomize: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
-  mj_forward_sync: mean=557.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:06:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:06:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:06:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 17:06:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:06:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:06:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038847m
-[05/10 17:06:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:06:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:06:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:06:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81789351  0.39249442  0.03884694] yaw=181.2deg
-[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85566066  0.70564347  0.03884694] yaw=-154.2deg
-[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82887966  0.13838141  0.03884694] yaw=161.2deg
-[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:06:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:06:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms
-[05/10 17:06:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.392, 0.039)
-[05/10 17:06:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.2 deg
-[05/10 17:06:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:06:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:06:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 17:06:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 17:06:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:06:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:06:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 17:06:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
-[05/10 17:06:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.415[m] 86.157[deg]
-[05/10 17:06:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:07:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:07:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:09:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:09:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:09:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:09:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:10:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:10:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:10:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.83s (batch: 4.46s, save: 9.37s)
-[05/10 17:10:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.73s, total=212.73s, count=1, min=212725.6ms, max=212725.6ms
-  sensor_polling: mean=524.7ms, total=157.41s, count=300, min=439.0ms, max=795.5ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9370.5ms, max=9370.5ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.9ms, max=117.1ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
-  task_sampling: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms
-  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=441.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:10:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:10:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:10:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 17:10:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:10:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:10:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077259m
-[05/10 17:10:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:10:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:10:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77681156  0.61100902  0.07725933] yaw=-175.9deg
-[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90455869  0.48311657  0.07725933] yaw=-174.7deg
-[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79535936  0.37121122  0.07725933] yaw=168.3deg
-[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:10:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:10:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms
-[05/10 17:10:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.611, 0.077)
-[05/10 17:10:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg
-[05/10 17:10:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:10:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:10:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 17:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 17:10:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:10:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:10:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 17:10:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True
-[05/10 17:10:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 86.810[deg]
-[05/10 17:10:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:12:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:13:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:13:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:13:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:13:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:13:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:13:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.62s (batch: 4.34s, save: 11.28s)
-[05/10 17:13:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s:
-  episode_total: mean=215.25s, total=215.25s, count=1, min=215248.3ms, max=215248.3ms
-  sensor_polling: mean=522.1ms, total=156.62s, count=300, min=451.5ms, max=933.3ms
-  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11281.6ms, max=11281.6ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.0ms, max=88.4ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.6ms, max=4335.6ms
-  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
-  task_specific_sample: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=415.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:13:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:13:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:13:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 17:13:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:13:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:13:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093589m
-[05/10 17:13:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:13:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:13:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70091235  0.74074463  0.09358929] yaw=-155.8deg
-[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75550472  0.41921094  0.09358929] yaw=171.4deg
-[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80566141  0.9516933   0.09358929] yaw=-159.8deg
-[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:13:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:13:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.3ms
-[05/10 17:13:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.741, 0.094)
-[05/10 17:13:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg
-[05/10 17:13:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:13:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:13:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:13:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 17:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 17:13:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:13:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:13:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 17:13:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True
-[05/10 17:13:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 75.843[deg]
-[05/10 17:13:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:16:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:16:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:16:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:16:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:17:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:17:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:17:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.91s (batch: 5.84s, save: 9.08s)
-[05/10 17:17:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
-  episode_total: mean=208.12s, total=208.12s, count=1, min=208118.1ms, max=208118.1ms
-  sensor_polling: mean=521.6ms, total=156.48s, count=300, min=437.4ms, max=958.7ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9075.8ms, max=9075.8ms
-  physics_step: mean=25.3ms, total=7.59s, count=300, min=16.9ms, max=101.0ms
-  save_batch_prep: mean=5.84s, total=5.84s, count=1, min=5835.0ms, max=5835.0ms
-  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
-  task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=487.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:17:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:17:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:17:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/10 17:17:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:17:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:17:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071945m
-[05/10 17:17:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:17:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:17:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:17:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2051489   1.09014751  0.07194474] yaw=-133.7deg
-[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87941551  1.11707535  0.07194474] yaw=-140.5deg
-[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68809405  0.1187716   0.07194474] yaw=163.9deg
-[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:17:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:17:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms
-[05/10 17:17:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.090, 0.072)
-[05/10 17:17:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
-[05/10 17:17:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:17:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:17:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:17:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 17:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 17:17:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:17:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:17:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 17:17:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/10 17:17:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 87.878[deg]
-[05/10 17:17:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:19:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:19:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
-[05/10 17:19:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True
-[05/10 17:19:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.355[deg]
-[05/10 17:19:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:19:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:19:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:19:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 17:19:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:19:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:19:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041211m
-[05/10 17:19:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:19:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:19:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96422574  0.83790477  0.04121141] yaw=-153.8deg
-[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79949137  0.66778023  0.04121141] yaw=-163.4deg
-[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82038026  0.18915596  0.04121141] yaw=150.4deg
-[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:19:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:19:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.3ms, total=340.3ms
-[05/10 17:19:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.838, 0.041)
-[05/10 17:19:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg
-[05/10 17:19:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:19:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:19:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:19:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 17:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.162s
-[05/10 17:19:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:19:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:19:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 17:19:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.274s, found feasible grasp: True
-[05/10 17:19:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.427[m] 97.105[deg]
-[05/10 17:19:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:22:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:22:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:22:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:22:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:23:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:23:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:23:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.53s (batch: 5.14s, save: 11.39s)
-[05/10 17:23:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.03s:
-  episode_total: mean=179.14s, total=358.27s, count=2, min=146860.5ms, max=211413.5ms
-  sensor_polling: mean=513.4ms, total=280.30s, count=546, min=427.3ms, max=1050.5ms
-  physics_step: mean=24.9ms, total=13.60s, count=546, min=16.1ms, max=124.2ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11388.3ms, max=11388.3ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5140.5ms, max=5140.5ms
-  task_sampling: mean=515.0ms, total=1.03s, count=2, min=377.4ms, max=652.6ms
-  task_specific_sample: mean=511.1ms, total=1.02s, count=2, min=373.7ms, max=648.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.7ms, max=2.5ms
-  mj_forward_sync: mean=509.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:23:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:23:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:23:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 17:23:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:23:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:23:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047686m
-[05/10 17:23:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:23:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:23:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86278248  0.48790772  0.04768634] yaw=-175.5deg
-[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71780782  0.33594549  0.04768634] yaw=168.7deg
-[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99902067  1.13381653  0.04768634] yaw=-128.2deg
-[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:23:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:23:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=121.0ms
-[05/10 17:23:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.488, 0.048)
-[05/10 17:23:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg
-[05/10 17:23:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:23:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:23:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 17:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 17:23:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:23:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:23:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 17:23:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True
-[05/10 17:23:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.426[m] 96.009[deg]
-[05/10 17:23:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:25:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:25:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:25:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:25:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:25:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:25:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps
-[05/10 17:25:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.842s, found feasible grasp: True
-[05/10 17:25:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]
-[05/10 17:25:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:25:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:26:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:27:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:27:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:27:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:27:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:27:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:27:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.89s (batch: 4.32s, save: 8.57s)
-[05/10 17:27:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
-  episode_total: mean=244.89s, total=244.89s, count=1, min=244885.2ms, max=244885.2ms
-  sensor_polling: mean=516.6ms, total=154.99s, count=300, min=452.0ms, max=757.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.5ms, max=8571.5ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=18.4ms, max=75.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.9ms, max=4321.9ms
-  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
-  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:27:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:27:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:27:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:27:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:27:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:27:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:27:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 17:27:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:27:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:27:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056143m
-[05/10 17:27:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:27:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:27:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:27:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76487977  1.02911056  0.05614299] yaw=-140.8deg
-[05/10 17:27:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:27:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:27:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.0ms, total=172.1ms
-[05/10 17:27:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 1.029, 0.056)
-[05/10 17:27:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg
-[05/10 17:27:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.085m
-[05/10 17:27:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:27:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:27:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:27:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:27:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:27:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 17:27:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 17:27:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:27:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:27:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 17:27:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.961s, found feasible grasp: True
-[05/10 17:27:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.707[m] 104.478[deg]
-[05/10 17:27:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:30:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:30:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:30:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:30:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:30:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:30:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:30:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.98s (batch: 4.27s, save: 8.70s)
-[05/10 17:30:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.56s:
-  episode_total: mean=205.61s, total=205.61s, count=1, min=205611.0ms, max=205611.0ms
-  sensor_polling: mean=512.7ms, total=153.80s, count=300, min=441.1ms, max=882.1ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.6ms, max=8703.6ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.4ms, max=76.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.4ms, max=4272.4ms
-  task_sampling: mean=557.3ms, total=557.3ms, count=1, min=557.3ms, max=557.3ms
-  task_specific_sample: mean=553.3ms, total=553.3ms, count=1, min=553.3ms, max=553.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=450.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:30:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:30:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:30:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:30:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:30:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:30:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:30:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 17:30:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:30:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:30:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039937m
-[05/10 17:30:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:30:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:30:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97790237  1.18738973  0.03993746] yaw=-127.3deg
-[05/10 17:30:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98013548  0.85655849  0.03993746] yaw=-141.8deg
-[05/10 17:30:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:30:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:30:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=570.5ms, total=570.5ms
-[05/10 17:30:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.187, 0.040)
-[05/10 17:30:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.3 deg
-[05/10 17:30:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
-[05/10 17:30:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:30:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:30:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:30:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:30:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:30:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 17:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
-[05/10 17:30:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:30:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:30:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 17:30:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.152s, found feasible grasp: True
-[05/10 17:30:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.656[m] 104.230[deg]
-[05/10 17:30:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:32:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:33:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:33:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:33:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:33:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/10 17:33:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.655s, found feasible grasp: False
-[05/10 17:33:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 17:33:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:33:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:33:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 17:33:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:33:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:33:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005555m
-[05/10 17:33:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:33:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:33:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79796191  0.59032679  0.00555468] yaw=-171.8deg
-[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65768666  0.59803248  0.00555468] yaw=-166.6deg
-[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7340947   0.36144263  0.00555468] yaw=164.7deg
-[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:33:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:33:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms
-[05/10 17:33:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.590, 0.006)
-[05/10 17:33:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg
-[05/10 17:33:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:33:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:33:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:33:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 17:33:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 17:33:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:33:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:33:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 17:33:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True
-[05/10 17:33:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 92.295[deg]
-[05/10 17:33:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:34:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:34:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:34:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:36:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:36:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:36:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:36:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:37:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:37:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:37:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.64s (batch: 4.20s, save: 8.44s)
-[05/10 17:37:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.69s:
-  episode_total: mean=192.04s, total=384.07s, count=2, min=173598.9ms, max=210473.2ms
-  sensor_polling: mean=529.1ms, total=307.94s, count=582, min=439.0ms, max=950.2ms
-  physics_step: mean=26.8ms, total=15.61s, count=582, min=15.1ms, max=121.4ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8443.2ms, max=8443.2ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.3ms, max=4201.3ms
-  task_sampling: mean=847.0ms, total=1.69s, count=2, min=448.4ms, max=1245.5ms
-  task_specific_sample: mean=842.9ms, total=1.69s, count=2, min=445.2ms, max=1240.6ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=526.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 17:37:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:37:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:37:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 17:37:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:37:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:37:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034546m
-[05/10 17:37:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:37:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:37:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75350632  0.13593235  0.03454601] yaw=150.4deg
-[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75932814  0.20555604  0.03454601] yaw=155.8deg
-[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84895012  0.26176307  0.03454601] yaw=174.4deg
-[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:37:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:37:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.2ms, total=114.2ms
-[05/10 17:37:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.136, 0.035)
-[05/10 17:37:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg
-[05/10 17:37:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:37:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:37:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:37:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 17:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 17:37:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:37:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:37:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 17:37:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.933s, found feasible grasp: True
-[05/10 17:37:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.561[m] 82.330[deg]
-[05/10 17:37:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:38:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:40:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:40:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:40:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:40:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:40:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:40:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:40:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.26s (batch: 4.18s, save: 10.09s)
-[05/10 17:40:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
-  episode_total: mean=210.02s, total=210.02s, count=1, min=210019.0ms, max=210019.0ms
-  sensor_polling: mean=525.3ms, total=157.60s, count=300, min=448.8ms, max=1130.4ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.0ms, max=10086.0ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=18.1ms, max=111.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.8ms, max=4177.8ms
-  task_sampling: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
-  task_specific_sample: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:40:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:40:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:40:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/10 17:40:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:40:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:40:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056516m
-[05/10 17:40:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:40:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:40:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:40:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94003423  0.16454842  0.05651629] yaw=157.8deg
-[05/10 17:40:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:40:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76037567  0.49217918  0.05651629] yaw=-173.7deg
-[05/10 17:40:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:40:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:40:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms
-[05/10 17:40:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.165, 0.057)
-[05/10 17:40:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg
-[05/10 17:40:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.826m
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:40:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:40:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:40:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 17:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 17:40:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:40:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:40:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 17:40:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
-[05/10 17:40:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.360[m] 86.319[deg]
-[05/10 17:40:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:40:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:40:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:42:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:42:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:42:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:42:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:42:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:42:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 17:42:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True
-[05/10 17:42:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
-[05/10 17:42:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:42:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:42:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:42:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.464s, found feasible grasp: True
-[05/10 17:42:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
-[05/10 17:43:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:43:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:43:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:43:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:43:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:43:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 17:43:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:43:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:43:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 17:43:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.348s, found feasible grasp: True
-[05/10 17:43:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
-[05/10 17:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 17:43:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False
-[05/10 17:43:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
-  episode_total: mean=160.86s, total=160.86s, count=1, min=160861.3ms, max=160861.3ms
-  sensor_polling: mean=524.4ms, total=110.12s, count=210, min=427.2ms, max=1165.1ms
-  physics_step: mean=24.8ms, total=5.22s, count=210, min=12.9ms, max=119.9ms
-  task_sampling: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
-  task_specific_sample: mean=502.4ms, total=502.4ms, count=1, min=502.4ms, max=502.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:43:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:43:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:43:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:43:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:43:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:43:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:43:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 17:43:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:43:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:43:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070869m
-[05/10 17:43:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:43:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:43:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:43:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6965765   0.45003992  0.07086929] yaw=176.8deg
-[05/10 17:43:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:43:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69652137  0.28877264  0.07086929] yaw=179.6deg
-[05/10 17:43:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:43:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87155419  0.6764731   0.07086929] yaw=-155.8deg
-[05/10 17:43:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:43:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:43:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms
-[05/10 17:43:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.450, 0.071)
-[05/10 17:43:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg
-[05/10 17:43:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.006m
-[05/10 17:43:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:43:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:43:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:43:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:43:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:43:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 17:43:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 17:43:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:43:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:43:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 17:43:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True
-[05/10 17:43:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.530[m] 83.337[deg]
-[05/10 17:43:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:44:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:46:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:46:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:46:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:46:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:46:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:46:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:46:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.43s (batch: 4.12s, save: 8.31s)
-[05/10 17:46:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
-  episode_total: mean=197.73s, total=197.73s, count=1, min=197730.3ms, max=197730.3ms
-  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=425.9ms, max=901.1ms
-  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8307.1ms, max=8307.1ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=15.3ms, max=114.7ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.1ms, max=4124.1ms
-  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=440.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:46:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:46:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:46:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/10 17:46:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:46:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:46:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018811m
-[05/10 17:46:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:46:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:46:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99026769  0.82555632  0.01881063] yaw=-144.2deg
-[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99727605  1.29964612  0.01881063] yaw=-123.6deg
-[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95585164  0.83276541  0.01881063] yaw=-143.6deg
-[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:46:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:46:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=674.4ms, total=674.4ms
-[05/10 17:46:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.826, 0.019)
-[05/10 17:46:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg
-[05/10 17:46:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:46:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:46:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 17:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 17:46:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:46:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:46:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 17:46:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True
-[05/10 17:46:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.392[m] 97.087[deg]
-[05/10 17:46:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:49:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 17:49:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:49:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
-[05/10 17:49:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:49:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 17:49:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
-[05/10 17:49:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.75s (batch: 4.16s, save: 8.60s)
-[05/10 17:49:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.95s:
-  episode_total: mean=181.60s, total=181.60s, count=1, min=181602.6ms, max=181602.6ms
-  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=430.9ms, max=702.1ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.3ms, max=8598.3ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=15.3ms, max=60.3ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4155.5ms, max=4155.5ms
-  task_sampling: mean=951.6ms, total=951.6ms, count=1, min=951.6ms, max=951.6ms
-  task_specific_sample: mean=947.7ms, total=947.7ms, count=1, min=947.7ms, max=947.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:49:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:49:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:49:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 17:49:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:49:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:49:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038916m
-[05/10 17:49:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:49:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:49:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95989546  0.15490859  0.03891584] yaw=163.8deg
-[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8509482   0.61731675  0.03891584] yaw=-177.0deg
-[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91610024  0.15764415  0.03891584] yaw=163.3deg
-[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:49:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:49:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms
-[05/10 17:49:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.155, 0.039)
-[05/10 17:49:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg
-[05/10 17:49:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:49:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:49:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 17:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 17:49:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:49:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:49:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 17:49:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True
-[05/10 17:49:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.397[m] 93.873[deg]
-[05/10 17:49:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:49:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:49:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:51:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:51:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
-[05/10 17:51:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True
-[05/10 17:51:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.230[deg]
-[05/10 17:51:48 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:51:50 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:51:50 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
-[05/10 17:51:50 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes
-[05/10 17:51:50 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6613.37s
-  House averages:
-  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
-  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
-  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
-  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
-  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
-  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:51:50 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 17:51:50 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6613.37s
-  Worker averages:
-  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
-  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
-  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
-  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
-  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
-  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
-  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
-  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
-  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
-  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
-  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
-  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
-  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 17:51:52 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 17:51:52 INFO pipeline.py:1491] Success count: 14, Total count: 15
-[05/10 17:51:52 INFO pipeline.py:1492] Success rate: 93.33%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
-==========================================
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-05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 17:52:24 INFO: {'batch_num': 2,
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- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x770679454550>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20502,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 17:52:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 17:52:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 17:52:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 17:52:24 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f8d7afc1bd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20501,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 17:52:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 17:52:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 17:52:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 17:52:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 17:52:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 17:52:25 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c7784638ad0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20503,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 17:52:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 17:52:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 17:52:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 17:52:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 17:52:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 17:52:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 17:52:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 17:52:25 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b86a78c3d50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20504,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 17:52:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 17:52:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 17:52:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 17:52:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 17:52:27 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 17:52:27 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 17:52:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020760m	[env.py: 870]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:52:27 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63593904  0.27675816  0.02075952] yaw=160.3deg	[env.py: 1019]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82218648  0.88892956  0.02075952] yaw=-144.5deg	[env.py: 1019]
-05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1517438   1.04800287  0.02075952] yaw=-144.4deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=99.6ms, total=112.2ms	[env.py: 1075]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.277, 0.021)	[env.py: 1079]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg	[env.py: 1082]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072128m	[env.py: 870]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044562m	[env.py: 870]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01279411  1.25093177  0.07212764] yaw=-135.5deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79243203  0.3439664   0.07212764] yaw=175.9deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:52:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 17:52:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75061833  0.47104023  0.04456229] yaw=178.0deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84702069  0.38589366  0.07212764] yaw=184.2deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=30.5ms, retries=196.2ms, total=226.8ms	[env.py: 1075]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.251, 0.072)	[env.py: 1079]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79196793  0.90462043  0.04456229] yaw=-151.6deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084719m	[env.py: 870]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=35.6ms, retries=417.5ms, total=453.1ms	[env.py: 1075]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.471, 0.045)	[env.py: 1079]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg	[env.py: 1082]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69757086  0.84132334  0.08471936] yaw=-162.0deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6607921   0.65728391  0.08471936] yaw=-165.8deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91750275  0.98954903  0.08471936] yaw=-157.5deg	[env.py: 1019]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=23.7ms, retries=410.9ms, total=434.6ms	[env.py: 1075]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.841, 0.085)	[env.py: 1079]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
-05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:52:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:52:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 33.522s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:53:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:53:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 33.893s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:53:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:53:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:53:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.538[m] 101.375[deg]	[grasp_sample.py: 539]
-05/10 17:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:53:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.599[m] 83.807[deg]	[grasp_sample.py: 539]
-05/10 17:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:53:03 INFO: [Worker 0] Warmed up parallel IK solver in 35.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:53:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:53:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:53:04 INFO: [Worker 0] Warmed up parallel IK solver in 34.820s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:53:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:53:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:53:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:53:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.692s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:53:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 88.058[deg]	[grasp_sample.py: 539]
-05/10 17:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:53:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.639s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:53:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 87.650[deg]	[grasp_sample.py: 539]
-05/10 17:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:53:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:53:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:53:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:53:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:54:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:54:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:55:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:55:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:55:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.258[deg]	[grasp_sample.py: 539]
-05/10 17:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:55:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:55:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:55:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:55:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:55:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:55:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:55:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:55:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 2.289[deg]	[grasp_sample.py: 539]
-05/10 17:55:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:55:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:55:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:55:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:54 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:55:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:55:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:55:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:55:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.203s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 17:56:01 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 17:56:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072954m	[env.py: 870]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83051939  0.62145997  0.0729539 ] yaw=-160.9deg	[env.py: 1019]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92384335  1.07285417  0.0729539 ] yaw=-151.5deg	[env.py: 1019]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76812818  0.10182049  0.0729539 ] yaw=148.6deg	[env.py: 1019]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.2ms, total=225.3ms	[env.py: 1075]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.621, 0.073)	[env.py: 1079]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:56:04 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:56:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:56:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:56:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:56:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 90.553[deg]	[grasp_sample.py: 539]
-05/10 17:56:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:56:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:56:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:56:15 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:56:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 17:56:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 17:56:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:56:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 17:56:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 17:56:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:56:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 17:56:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.90s (batch: 3.88s, save: 10.02s)	[pipeline.py: 300]
-05/10 17:56:33 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s:
-  episode_total: mean=247.71s, total=247.71s, count=1, min=247713.5ms, max=247713.5ms
-  sensor_polling: mean=516.1ms, total=154.82s, count=300, min=450.4ms, max=914.6ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10021.2ms, max=10021.2ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=18.8ms, max=49.9ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.4ms, max=3880.4ms
-  task_sampling: mean=3.86s, total=3.86s, count=1, min=3860.2ms, max=3860.2ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  task_specific_sample: mean=728.9ms, total=728.9ms, count=1, min=728.9ms, max=728.9ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=635.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028489m	[env.py: 870]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09827936  1.0376499   0.02848927] yaw=-148.2deg	[env.py: 1019]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.0ms, total=336.1ms	[env.py: 1075]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 1.038, 0.028)	[env.py: 1079]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
-05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:56:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:56:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.372s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:56:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 86.607[deg]	[grasp_sample.py: 539]
-05/10 17:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 17:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 4.37s, save: 12.04s)	[pipeline.py: 300]
-05/10 17:56:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:56:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:56:38 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.87s:
-  episode_total: mean=253.79s, total=253.79s, count=1, min=253785.6ms, max=253785.6ms
-  sensor_polling: mean=528.0ms, total=158.39s, count=300, min=458.1ms, max=909.0ms
-  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12041.4ms, max=12041.4ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.8ms, max=69.8ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.9ms, max=4365.9ms
-  task_sampling: mean=3.87s, total=3.87s, count=1, min=3869.8ms, max=3869.8ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  task_specific_sample: mean=795.5ms, total=795.5ms, count=1, min=795.5ms, max=795.5ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=578.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=39.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081843m	[env.py: 870]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71870329  0.06497328  0.08184281] yaw=158.7deg	[env.py: 1019]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01619692  1.05900576  0.08184281] yaw=-144.9deg	[env.py: 1019]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83189719  0.82154528  0.08184281] yaw=-167.0deg	[env.py: 1019]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.065, 0.082)	[env.py: 1079]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
-05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:56:41 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:56:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:56:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:56:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:56:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 17:56:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 17:56:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:56:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:56:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.655[m] 89.741[deg]	[grasp_sample.py: 539]
-05/10 17:56:44 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:56:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098587m	[env.py: 870]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67664378  0.11123131  0.09858703] yaw=151.2deg	[env.py: 1019]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79853059  0.23105954  0.09858703] yaw=154.6deg	[env.py: 1019]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms	[env.py: 1075]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.111, 0.099)	[env.py: 1079]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.2 deg	[env.py: 1082]
-05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:56:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:56:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:56:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.746s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:56:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.632[m] 87.794[deg]	[grasp_sample.py: 539]
-05/10 17:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:56:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061943m	[env.py: 870]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01264304  0.82941253  0.06194339] yaw=-151.9deg	[env.py: 1019]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.859553    0.40260025  0.06194339] yaw=170.0deg	[env.py: 1019]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84360722  0.56367516  0.06194339] yaw=-181.0deg	[env.py: 1019]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.4ms	[env.py: 1075]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.829, 0.062)	[env.py: 1079]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
-05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:56:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:56:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:56:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:56:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 86.459[deg]	[grasp_sample.py: 539]
-05/10 17:56:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:56:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:56:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:56:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:56:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 17:56:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.49s (batch: 4.47s, save: 10.02s)	[pipeline.py: 300]
-05/10 17:56:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:56:57 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.60s:
-  episode_total: mean=273.90s, total=273.90s, count=1, min=273904.3ms, max=273904.3ms
-  sensor_polling: mean=528.6ms, total=158.59s, count=300, min=444.5ms, max=942.2ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10019.0ms, max=10019.0ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=53.6ms
-  task_sampling: mean=4.60s, total=4.60s, count=1, min=4598.7ms, max=4598.7ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4470.5ms, max=4470.5ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  task_specific_sample: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:56:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:56:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:56:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:56:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:56:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029534m	[env.py: 870]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84390957  0.80185654  0.02953442] yaw=-158.1deg	[env.py: 1019]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9737659   1.09163266  0.02953442] yaw=-137.2deg	[env.py: 1019]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:56:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms	[env.py: 1075]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.802, 0.030)	[env.py: 1079]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
-05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:57:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:57:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:57:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:57:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:57:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:57:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.263s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:57:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 92.437[deg]	[grasp_sample.py: 539]
-05/10 17:57:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:57:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:57:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:57:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:57:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:57:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 17:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:58:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 17:59:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 17:59:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 17:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:59:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:59:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.324[deg]	[grasp_sample.py: 539]
-05/10 17:59:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 17:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:59:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:59:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:59:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028643m	[env.py: 870]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76701776  0.41372654  0.028643  ] yaw=186.3deg	[env.py: 1019]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.891129   0.6409341  0.028643 ] yaw=-158.8deg	[env.py: 1019]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64280559  0.68524938  0.028643  ] yaw=-175.0deg	[env.py: 1019]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=344.3ms, total=344.4ms	[env.py: 1075]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.414, 0.029)	[env.py: 1079]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.3 deg	[env.py: 1082]
-05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:59:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:59:21 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:59:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:59:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:59:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.224s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:59:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.468[deg]	[grasp_sample.py: 539]
-05/10 17:59:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:59:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:59:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:59:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 17:59:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 17:59:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 17:59:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 17:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 17:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 17:59:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.03s (batch: 5.08s, save: 8.94s)	[pipeline.py: 300]
-05/10 17:59:38 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.73s:
-  episode_total: mean=215.69s, total=431.39s, count=2, min=213853.3ms, max=217531.9ms
-  sensor_polling: mean=517.2ms, total=294.30s, count=569, min=426.2ms, max=804.4ms
-  physics_step: mean=25.1ms, total=14.31s, count=569, min=17.6ms, max=109.4ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8944.7ms, max=8944.7ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5084.2ms, max=5084.2ms
-  task_sampling: mean=2.37s, total=4.73s, count=2, min=532.7ms, max=4198.2ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  task_specific_sample: mean=550.5ms, total=1.10s, count=2, min=529.5ms, max=571.4ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  scene_randomize: mean=4.5ms, total=8.9ms, count=2, min=1.6ms, max=7.3ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  mj_forward_sync: mean=1.1ms, total=2.2ms, count=2, min=0.5ms, max=1.6ms
-  policy_setup: mean=28.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 17:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 17:59:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 17:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 17:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 17:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 17:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098611m	[env.py: 870]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 17:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87097755  0.39197488  0.09861113] yaw=179.6deg	[env.py: 1019]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89885229  0.26118804  0.09861113] yaw=163.1deg	[env.py: 1019]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98654146  0.71303406  0.09861113] yaw=-160.4deg	[env.py: 1019]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 17:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.2ms, total=256.3ms	[env.py: 1075]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.392, 0.099)	[env.py: 1079]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg	[env.py: 1082]
-05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 17:59:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 17:59:40 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 17:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 17:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 17:59:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 17:59:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 17:59:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 17:59:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 90.560[deg]	[grasp_sample.py: 539]
-05/10 17:59:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 17:59:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 17:59:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 17:59:46 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:00:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:00:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:00:00 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 18:00:11 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:00:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:00:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:00:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.69s (batch: 4.47s, save: 10.22s)	[pipeline.py: 300]
-05/10 18:00:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
-  episode_total: mean=70.70s, total=212.10s, count=3, min=3726.0ms, max=204327.6ms
-  sensor_polling: mean=525.5ms, total=151.87s, count=289, min=451.3ms, max=778.8ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10219.1ms, max=10219.1ms
-  physics_step: mean=25.1ms, total=7.26s, count=289, min=16.1ms, max=68.6ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.7ms, max=4471.7ms
-  task_sampling: mean=446.8ms, total=1.34s, count=3, min=430.8ms, max=455.3ms
-  task_specific_sample: mean=443.4ms, total=1.33s, count=3, min=428.2ms, max=451.1ms
-  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=469.1us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:00:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:00:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:00:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:00:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:00:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020791m	[env.py: 870]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87133104  0.90343635  0.02079084] yaw=-146.2deg	[env.py: 1019]
-05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92269707  0.66565586  0.02079084] yaw=-172.9deg	[env.py: 1019]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9436341   0.42249769  0.02079084] yaw=171.4deg	[env.py: 1019]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.5ms, total=101.5ms	[env.py: 1075]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.903, 0.021)	[env.py: 1079]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.2 deg	[env.py: 1082]
-05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:00:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:00:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:00:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:00:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:00:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:00:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:00:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:00:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 96.765[deg]	[grasp_sample.py: 539]
-05/10 18:00:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:00:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:00:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:00:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:00:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:00:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:00:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.92s (batch: 5.22s, save: 10.70s)	[pipeline.py: 300]
-05/10 18:00:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.57s:
-  episode_total: mean=208.16s, total=208.16s, count=1, min=208160.6ms, max=208160.6ms
-  sensor_polling: mean=512.6ms, total=153.77s, count=300, min=450.9ms, max=1009.5ms
-  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10700.6ms, max=10700.6ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=18.5ms, max=94.0ms
-  save_batch_prep: mean=5.22s, total=5.22s, count=1, min=5216.9ms, max=5216.9ms
-  task_sampling: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  task_specific_sample: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:00:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:00:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:00:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:00:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:00:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:00:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081904m	[env.py: 870]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8897349   0.44533364  0.08190392] yaw=188.6deg	[env.py: 1019]
-05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14760809  1.12987597  0.08190392] yaw=-119.9deg	[env.py: 1019]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78035005  0.51002221  0.08190392] yaw=-172.0deg	[env.py: 1019]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:00:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.7ms	[env.py: 1075]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.445, 0.082)	[env.py: 1079]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.6 deg	[env.py: 1082]
-05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:00:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:00:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:00:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:00:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:00:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:00:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:00:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:00:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 99.410[deg]	[grasp_sample.py: 539]
-05/10 18:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:00:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:00:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:00:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:00:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:00:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:00:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:01:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:01:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:01:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:01:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:01:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:01:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg]	[grasp_sample.py: 539]
-05/10 18:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:01:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:01:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:01:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:02:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:02:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:02:19 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:02:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:02:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:02:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:02:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:02:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:02:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.825s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:02:43 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.586[deg]	[grasp_sample.py: 539]
-05/10 18:02:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:02:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:02:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:02:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:02:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:02:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:03:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:03:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:03:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 5.39s, save: 11.09s)	[pipeline.py: 300]
-05/10 18:03:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:03:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.29s:
-  episode_total: mean=193.13s, total=386.26s, count=2, min=163469.5ms, max=222792.6ms
-  sensor_polling: mean=522.9ms, total=295.41s, count=565, min=442.0ms, max=874.0ms
-  physics_step: mean=25.0ms, total=14.11s, count=565, min=18.3ms, max=69.0ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11088.0ms, max=11088.0ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5385.2ms, max=5385.2ms
-  task_sampling: mean=645.0ms, total=1.29s, count=2, min=620.9ms, max=669.0ms
-  task_specific_sample: mean=639.3ms, total=1.28s, count=2, min=613.8ms, max=664.7ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.9ms
-  mj_forward_sync: mean=585.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:03:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.514s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]	[grasp_sample.py: 539]
-05/10 18:03:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:03:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:03:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:03:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057254m	[env.py: 870]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72877017  0.27050068  0.05725375] yaw=165.4deg	[env.py: 1019]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05283478  1.24566073  0.05725375] yaw=-136.9deg	[env.py: 1019]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74012062  0.08893425  0.05725375] yaw=146.8deg	[env.py: 1019]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.5ms	[env.py: 1075]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.271, 0.057)	[env.py: 1079]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:03:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:03:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 97.098[deg]	[grasp_sample.py: 539]
-05/10 18:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:03:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:03:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.364s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:21 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]	[grasp_sample.py: 539]
-05/10 18:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:03:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:03:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:03:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.70s (batch: 4.07s, save: 10.63s)	[pipeline.py: 300]
-05/10 18:03:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
-  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.4ms, max=223738.4ms
-  sensor_polling: mean=528.5ms, total=158.55s, count=300, min=450.9ms, max=983.0ms
-  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.3ms, max=10626.3ms
-  physics_step: mean=27.8ms, total=8.34s, count=300, min=15.7ms, max=89.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.8ms, max=4071.8ms
-  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
-  task_specific_sample: mean=529.1ms, total=529.1ms, count=1, min=529.1ms, max=529.1ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:03:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:03:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:03:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:03:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083966m	[env.py: 870]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71364363  0.40425663  0.08396626] yaw=176.0deg	[env.py: 1019]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8498132   0.15936157  0.08396626] yaw=164.7deg	[env.py: 1019]
-05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7127387   0.73686167  0.08396626] yaw=-176.3deg	[env.py: 1019]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.7ms	[env.py: 1075]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.404, 0.084)	[env.py: 1079]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
-05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:03:26 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:03:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:03:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 76.315[deg]	[grasp_sample.py: 539]
-05/10 18:03:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:03:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:03:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:03:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:03:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 18:03:39 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 18:03:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.54s:
-  episode_total: mean=189.16s, total=189.16s, count=1, min=189159.6ms, max=189159.6ms
-  sensor_polling: mean=529.5ms, total=124.44s, count=235, min=449.9ms, max=930.2ms
-  physics_step: mean=25.0ms, total=5.88s, count=235, min=13.5ms, max=65.0ms
-  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  task_specific_sample: mean=531.3ms, total=531.3ms, count=1, min=531.3ms, max=531.3ms
-  scene_randomize: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
-  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:03:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:03:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:03:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:03:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:03:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:03:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018891m	[env.py: 870]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:03:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96193819  0.75879599  0.01889082] yaw=-159.7deg	[env.py: 1019]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97096644  1.10611809  0.01889082] yaw=-129.3deg	[env.py: 1019]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=363.7ms, total=363.8ms	[env.py: 1075]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.759, 0.019)	[env.py: 1079]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
-05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
-05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:03:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:03:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.449[deg]	[grasp_sample.py: 539]
-05/10 18:03:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:03:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:03:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:03:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.81s (batch: 4.82s, save: 9.99s)	[pipeline.py: 300]
-05/10 18:03:45 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.34s, total=207.34s, count=1, min=207339.7ms, max=207339.7ms
-  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=441.3ms, max=852.2ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.6ms, max=9991.6ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=18.1ms, max=68.0ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4815.4ms, max=4815.4ms
-  task_sampling: mean=467.2ms, total=467.2ms, count=1, min=467.2ms, max=467.2ms
-  task_specific_sample: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=646.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:03:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:03:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075855m	[env.py: 870]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95667409  0.25810516  0.07585462] yaw=156.0deg	[env.py: 1019]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75685142  0.65980208  0.07585462] yaw=-167.3deg	[env.py: 1019]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.0ms	[env.py: 1075]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.258, 0.076)	[env.py: 1079]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
-05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:03:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:03:47 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:03:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:03:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:03:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:03:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.376[m] 104.127[deg]	[grasp_sample.py: 539]
-05/10 18:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:04:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:04:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:04:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:04:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:05:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:05:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:05:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:05:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:05:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:05:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:05:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.538[deg]	[grasp_sample.py: 539]
-05/10 18:05:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:05:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:05:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:05:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:05:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:05:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:05:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:05:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054508m	[env.py: 870]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:05:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02975878  1.15674543  0.05450836] yaw=-140.8deg	[env.py: 1019]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80355663  0.68283201  0.05450836] yaw=-177.0deg	[env.py: 1019]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8674806   0.57773193  0.05450836] yaw=-168.2deg	[env.py: 1019]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:05:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.6ms	[env.py: 1075]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 1.157, 0.055)	[env.py: 1079]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
-05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:05:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:05:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:05:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:05:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:05:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:05:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:05:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:05:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.510[m] 85.708[deg]	[grasp_sample.py: 539]
-05/10 18:05:41 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:05:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:05:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:05:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034262m	[env.py: 870]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62427414  0.36980578  0.03426181] yaw=175.7deg	[env.py: 1019]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78898383  1.07154827  0.03426181] yaw=-146.9deg	[env.py: 1019]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85054235  0.21425112  0.03426181] yaw=167.7deg	[env.py: 1019]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.7ms, total=240.7ms	[env.py: 1075]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.370, 0.034)	[env.py: 1079]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg	[env.py: 1082]
-05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:05:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:05:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:05:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:05:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:05:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:05:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:05:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:05:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.668[m] 100.006[deg]	[grasp_sample.py: 539]
-05/10 18:05:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:05:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:06:17 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:06:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:06:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:06:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:06:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:06:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:06:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.51s (batch: 4.45s, save: 11.06s)	[pipeline.py: 300]
-05/10 18:06:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.98s, total=208.98s, count=1, min=208979.4ms, max=208979.4ms
-  sensor_polling: mean=516.0ms, total=154.79s, count=300, min=442.4ms, max=1019.5ms
-  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11061.9ms, max=11061.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.4ms, max=64.1ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.2ms, max=4452.2ms
-  task_sampling: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
-  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=693.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=34.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:06:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:06:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:06:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:06:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:06:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:06:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:06:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030489m	[env.py: 870]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:06:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90575212  0.15871317  0.03048856] yaw=157.2deg	[env.py: 1019]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01316688  1.06821953  0.03048856] yaw=-136.7deg	[env.py: 1019]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67068777  0.13113667  0.03048856] yaw=171.2deg	[env.py: 1019]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:06:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=470.9ms, total=470.9ms	[env.py: 1075]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.159, 0.030)	[env.py: 1079]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
-05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:06:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:06:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:06:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:06:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:06:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:06:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:06:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.004s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:06:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.400[m] 84.405[deg]	[grasp_sample.py: 539]
-05/10 18:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:06:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:06:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:06:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:07:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:07:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.73s (batch: 4.52s, save: 9.21s)	[pipeline.py: 300]
-05/10 18:07:10 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.68s:
-  episode_total: mean=209.82s, total=209.82s, count=1, min=209824.5ms, max=209824.5ms
-  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=442.2ms, max=925.4ms
-  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9206.1ms, max=9206.1ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.3ms, max=69.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.0ms, max=4522.0ms
-  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
-  task_specific_sample: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=409.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:07:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:07:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:07:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050515m	[env.py: 870]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80634651  0.31020594  0.05051479] yaw=161.1deg	[env.py: 1019]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65142662  0.39591575  0.05051479] yaw=186.2deg	[env.py: 1019]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95051527  0.9652761   0.05051479] yaw=-137.9deg	[env.py: 1019]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms	[env.py: 1075]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.310, 0.051)	[env.py: 1079]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:07:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:07:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:07:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.469[m] 91.125[deg]	[grasp_sample.py: 539]
-05/10 18:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:07:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:07:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:07:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:07:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:07:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:07:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:07:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:07:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.69s (batch: 4.12s, save: 8.57s)	[pipeline.py: 300]
-05/10 18:07:36 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.61s:
-  episode_total: mean=251.00s, total=251.00s, count=1, min=250997.5ms, max=250997.5ms
-  sensor_polling: mean=512.9ms, total=153.88s, count=300, min=449.6ms, max=970.9ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8568.9ms, max=8568.9ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.8ms, max=85.0ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms
-  task_sampling: mean=608.4ms, total=608.4ms, count=1, min=608.4ms, max=608.4ms
-  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=590.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:07:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:07:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:07:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:07:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:07:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:07:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098462m	[env.py: 870]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:07:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98098428  1.28315984  0.09846237] yaw=-122.5deg	[env.py: 1019]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=311.4ms, total=311.4ms	[env.py: 1075]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.283, 0.098)	[env.py: 1079]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg	[env.py: 1082]
-05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:07:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:07:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:07:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:07:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:07:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:07:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 18:07:40 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 18:07:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:07:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:07:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:07:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:07:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:07:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016369m	[env.py: 870]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:07:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85317905  1.10212424  0.01636906] yaw=-141.9deg	[env.py: 1019]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78270697  0.81568483  0.01636906] yaw=-164.0deg	[env.py: 1019]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81312568  0.03620226  0.01636906] yaw=152.4deg	[env.py: 1019]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:07:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms	[env.py: 1075]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 1.102, 0.016)	[env.py: 1079]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
-05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:07:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:07:43 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:07:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:07:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:07:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:07:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:07:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.751s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:07:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.608[m] 79.034[deg]	[grasp_sample.py: 539]
-05/10 18:07:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:07:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:07:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:08:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:08:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:08:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:08:30 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:08:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:08:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:08:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:08:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:08:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:08:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:08:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]	[grasp_sample.py: 539]
-05/10 18:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:09:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:09:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:09:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:09:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034666m	[env.py: 870]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80761355  0.47246581  0.03466565] yaw=181.6deg	[env.py: 1019]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83226153  1.0895517   0.03466565] yaw=-142.9deg	[env.py: 1019]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78994328  0.09712097  0.03466565] yaw=148.5deg	[env.py: 1019]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.1ms, total=277.1ms	[env.py: 1075]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.472, 0.035)	[env.py: 1079]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
-05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:09:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:09:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.207s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.227s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:09:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 97.544[deg]	[grasp_sample.py: 539]
-05/10 18:09:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:09:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:09:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:09:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:09:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:09:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:09:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 5.36s, save: 11.05s)	[pipeline.py: 300]
-05/10 18:09:12 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.54s:
-  episode_total: mean=107.36s, total=322.08s, count=3, min=2846.3ms, max=209344.5ms
-  sensor_polling: mean=507.0ms, total=238.81s, count=471, min=439.9ms, max=889.2ms
-  physics_step: mean=25.8ms, total=12.13s, count=471, min=16.2ms, max=89.4ms
-  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.4ms, max=11046.4ms
-  save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5362.1ms, max=5362.1ms
-  task_sampling: mean=513.5ms, total=1.54s, count=3, min=426.5ms, max=572.3ms
-  task_specific_sample: mean=510.0ms, total=1.53s, count=3, min=423.3ms, max=568.6ms
-  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=422.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:09:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:09:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:09:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:09:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:09:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:09:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:09:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039203m	[env.py: 870]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:09:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85255681  0.8583814   0.03920265] yaw=-152.1deg	[env.py: 1019]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94283526  0.52132514  0.03920265] yaw=-177.9deg	[env.py: 1019]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79717038  0.65299914  0.03920265] yaw=-164.1deg	[env.py: 1019]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:09:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms	[env.py: 1075]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.858, 0.039)	[env.py: 1079]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:09:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:09:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:09:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:09:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:09:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:09:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:09:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:09:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 89.534[deg]	[grasp_sample.py: 539]
-05/10 18:09:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:09:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:09:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:09:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:10:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:10:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:10:16 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:10:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:10:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:10:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 18:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:10:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:10:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:10:34 INFO: [Worker 0] Feasibility-checked 68 grasps in 1.588s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 18:10:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 18:10:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:10:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:10:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:10:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:10:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:10:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:10:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092690m	[env.py: 870]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:10:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88442039  0.6793782   0.09269017] yaw=-155.7deg	[env.py: 1019]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19762019  1.09839112  0.09269017] yaw=-137.5deg	[env.py: 1019]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82290531  0.29104865  0.09269017] yaw=178.5deg	[env.py: 1019]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.679, 0.093)	[env.py: 1079]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg	[env.py: 1082]
-05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:10:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:10:37 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:10:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:10:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:10:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:10:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:10:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:10:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 86.455[deg]	[grasp_sample.py: 539]
-05/10 18:10:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:10:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:10:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:10:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:10:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:10:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.21s, save: 8.79s)	[pipeline.py: 300]
-05/10 18:10:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=219.33s, total=219.33s, count=1, min=219331.9ms, max=219331.9ms
-  sensor_polling: mean=519.6ms, total=155.88s, count=300, min=451.9ms, max=891.4ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8790.9ms, max=8790.9ms
-  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=89.1ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4209.5ms, max=4209.5ms
-  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
-  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:10:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:10:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:10:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:10:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082164m	[env.py: 870]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64766612  0.34329165  0.08216399] yaw=172.6deg	[env.py: 1019]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:10:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms	[env.py: 1075]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.343, 0.082)	[env.py: 1079]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
-05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:10:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:10:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:10:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:10:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:10:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:10:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:10:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:10:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.591[m] 85.656[deg]	[grasp_sample.py: 539]
-05/10 18:10:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:10:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:10:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:11:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:11:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:11:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:11:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:12:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:12:02 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:12:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:12:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:12:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:12:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:12:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:12:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:12:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:12:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:12:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:12:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.45s (batch: 4.66s, save: 8.80s)	[pipeline.py: 300]
-05/10 18:12:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.40s:
-  episode_total: mean=179.86s, total=359.71s, count=2, min=143960.8ms, max=215749.7ms
-  sensor_polling: mean=521.7ms, total=270.26s, count=518, min=440.5ms, max=880.3ms
-  physics_step: mean=24.7ms, total=12.80s, count=518, min=15.2ms, max=63.6ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8795.7ms, max=8795.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4655.7ms, max=4655.7ms
-  task_sampling: mean=697.8ms, total=1.40s, count=2, min=547.2ms, max=848.4ms
-  task_specific_sample: mean=692.7ms, total=1.39s, count=2, min=542.0ms, max=843.5ms
-  scene_randomize: mean=3.1ms, total=6.2ms, count=2, min=2.8ms, max=3.3ms
-  mj_forward_sync: mean=592.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=25.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:12:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:12:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:12:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:12:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:12:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:12:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:12:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024505m	[env.py: 870]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:12:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7267935   0.28411293  0.02450487] yaw=179.3deg	[env.py: 1019]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89600936  0.76819328  0.02450487] yaw=-165.2deg	[env.py: 1019]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87356914  0.74749812  0.02450487] yaw=-154.1deg	[env.py: 1019]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:12:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.7ms, total=139.8ms	[env.py: 1075]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.284, 0.025)	[env.py: 1079]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.3 deg	[env.py: 1082]
-05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:12:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:12:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:12:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:12:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:12:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:12:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:12:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:12:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 95.089[deg]	[grasp_sample.py: 539]
-05/10 18:12:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:12:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:12:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:12:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:12:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:12:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.33s (batch: 4.54s, save: 9.78s)	[pipeline.py: 300]
-05/10 18:12:45 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
-  episode_total: mean=211.47s, total=211.47s, count=1, min=211470.2ms, max=211470.2ms
-  sensor_polling: mean=518.2ms, total=155.45s, count=300, min=447.5ms, max=953.7ms
-  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.4ms, max=9784.4ms
-  physics_step: mean=24.1ms, total=7.24s, count=300, min=18.4ms, max=47.7ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4544.6ms, max=4544.6ms
-  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
-  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:12:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:12:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:12:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:12:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:12:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:12:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:12:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054997m	[env.py: 870]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:12:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9716756   0.99335929  0.05499689] yaw=-149.5deg	[env.py: 1019]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70604843  0.38125246  0.05499689] yaw=164.7deg	[env.py: 1019]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95207794  0.56246207  0.05499689] yaw=-166.9deg	[env.py: 1019]
-05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.9ms, total=415.9ms	[env.py: 1075]
-05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.993, 0.055)	[env.py: 1079]
-05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:12:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:12:48 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:12:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:12:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 91.929[deg]	[grasp_sample.py: 539]
-05/10 18:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:12:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:12:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:13:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:13:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:13:50 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:13:53 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:13:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:13:53 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 18:13:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:13:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:14:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:14:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:14:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.52s (batch: 4.20s, save: 8.31s)	[pipeline.py: 300]
-05/10 18:14:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.63s:
-  episode_total: mean=128.29s, total=384.87s, count=3, min=2466.6ms, max=210047.2ms
-  sensor_polling: mean=525.8ms, total=312.86s, count=595, min=438.8ms, max=1193.3ms
-  physics_step: mean=26.1ms, total=15.54s, count=595, min=16.0ms, max=109.7ms
-  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8314.2ms, max=8314.2ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.4ms, max=4204.4ms
-  task_sampling: mean=544.6ms, total=1.63s, count=3, min=490.2ms, max=595.7ms
-  task_specific_sample: mean=541.2ms, total=1.62s, count=3, min=487.3ms, max=592.0ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=495.8us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:14:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:14:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:14:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079468m	[env.py: 870]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02339654  0.9790538   0.07946751] yaw=-132.8deg	[env.py: 1019]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.8ms, total=225.8ms	[env.py: 1075]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.979, 0.079)	[env.py: 1079]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
-05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:14:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:14:08 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:14:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:14:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:14:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:14:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:14:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 91.754[deg]	[grasp_sample.py: 539]
-05/10 18:14:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:14:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:14:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:14:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:14:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:14:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.47s (batch: 4.28s, save: 8.19s)	[pipeline.py: 300]
-05/10 18:14:24 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
-  episode_total: mean=211.39s, total=211.39s, count=1, min=211393.5ms, max=211393.5ms
-  sensor_polling: mean=543.2ms, total=162.97s, count=300, min=439.1ms, max=1076.8ms
-  physics_step: mean=29.6ms, total=8.87s, count=300, min=15.8ms, max=140.7ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8189.8ms, max=8189.8ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
-  task_sampling: mean=523.1ms, total=523.1ms, count=1, min=523.1ms, max=523.1ms
-  task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=436.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:14:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059982m	[env.py: 870]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85145971  0.66191767  0.05998183] yaw=-164.6deg	[env.py: 1019]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01775799  0.95797435  0.05998183] yaw=-150.8deg	[env.py: 1019]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.2ms	[env.py: 1075]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.662, 0.060)	[env.py: 1079]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg	[env.py: 1082]
-05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:14:26 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 82.003[deg]	[grasp_sample.py: 539]
-05/10 18:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:15:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:15:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:15:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:15:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:15:37 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:15:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:15:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:15:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:16:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:16:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:16:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:16:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:16:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.52s (batch: 4.38s, save: 9.13s)	[pipeline.py: 300]
-05/10 18:16:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
-  episode_total: mean=211.03s, total=211.03s, count=1, min=211027.8ms, max=211027.8ms
-  sensor_polling: mean=521.6ms, total=156.49s, count=300, min=457.6ms, max=1114.7ms
-  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9133.9ms, max=9133.9ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.7ms, max=134.6ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.6ms, max=4382.6ms
-  task_sampling: mean=429.8ms, total=429.8ms, count=1, min=429.8ms, max=429.8ms
-  task_specific_sample: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:16:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:16:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097343m	[env.py: 870]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75896834  0.41220909  0.09734325] yaw=174.1deg	[env.py: 1019]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10478383  1.21847726  0.09734325] yaw=-129.0deg	[env.py: 1019]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73900635  0.06496733  0.09734325] yaw=159.6deg	[env.py: 1019]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.4ms, total=423.4ms	[env.py: 1075]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.412, 0.097)	[env.py: 1079]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg	[env.py: 1082]
-05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:16:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:16:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:16:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 87.590[deg]	[grasp_sample.py: 539]
-05/10 18:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:16:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:16:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.91s (batch: 4.29s, save: 12.62s)	[pipeline.py: 300]
-05/10 18:16:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
-  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.7ms, max=213981.7ms
-  sensor_polling: mean=519.7ms, total=155.90s, count=300, min=444.6ms, max=942.3ms
-  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12617.2ms, max=12617.2ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.6ms, max=132.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.4ms, max=4293.4ms
-  task_sampling: mean=742.2ms, total=742.2ms, count=1, min=742.2ms, max=742.2ms
-  task_specific_sample: mean=737.7ms, total=737.7ms, count=1, min=737.7ms, max=737.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:16:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:16:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:16:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073673m	[env.py: 870]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65207323  0.27360683  0.07367289] yaw=164.5deg	[env.py: 1019]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93291151  0.95310248  0.07367289] yaw=-153.7deg	[env.py: 1019]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64378631  0.25175625  0.07367289] yaw=178.5deg	[env.py: 1019]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=155.8ms, total=155.8ms	[env.py: 1075]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.274, 0.074)	[env.py: 1079]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.5 deg	[env.py: 1082]
-05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:16:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:16:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:16:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:16:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.633[m] 93.970[deg]	[grasp_sample.py: 539]
-05/10 18:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:17:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:17:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:17:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:17:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:17:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:17:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:17:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:17:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.57s, save: 8.44s)	[pipeline.py: 300]
-05/10 18:17:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=210.85s, total=210.85s, count=1, min=210851.1ms, max=210851.1ms
-  sensor_polling: mean=534.7ms, total=160.42s, count=300, min=438.7ms, max=1102.6ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.6ms, max=8435.6ms
-  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.2ms, max=79.6ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4566.6ms, max=4566.6ms
-  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
-  task_specific_sample: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:17:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045743m	[env.py: 870]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97234935  1.2735712   0.04574261] yaw=-127.5deg	[env.py: 1019]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94842868  0.98226963  0.04574261] yaw=-137.3deg	[env.py: 1019]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms	[env.py: 1075]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.274, 0.046)	[env.py: 1079]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
-05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:17:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:17:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:17:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:17:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:17:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.578s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 18:17:43 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 18:17:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:17:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002934m	[env.py: 870]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01835073  0.91997506  0.00293359] yaw=-149.6deg	[env.py: 1019]
-05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95194022  0.62305237  0.00293359] yaw=-179.4deg	[env.py: 1019]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.920, 0.003)	[env.py: 1079]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg	[env.py: 1082]
-05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
-05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:17:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:17:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:17:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 86.774[deg]	[grasp_sample.py: 539]
-05/10 18:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:17:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:17:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:17:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:17:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:17:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.56s (batch: 4.27s, save: 10.28s)	[pipeline.py: 300]
-05/10 18:17:56 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
-  episode_total: mean=210.58s, total=210.58s, count=1, min=210579.4ms, max=210579.4ms
-  sensor_polling: mean=534.8ms, total=160.45s, count=300, min=436.5ms, max=927.5ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.3ms, max=10283.3ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=16.7ms, max=140.4ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.3ms, max=4274.3ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:17:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068430m	[env.py: 870]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94273959  1.22523127  0.06843   ] yaw=-141.3deg	[env.py: 1019]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99422225  0.17772348  0.06843   ] yaw=148.4deg	[env.py: 1019]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=163.2ms, total=163.2ms	[env.py: 1075]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.225, 0.068)	[env.py: 1079]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
-05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:17:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:17:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:17:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:17:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:17:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:17:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:18:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:18:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 94.972[deg]	[grasp_sample.py: 539]
-05/10 18:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:18:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:18:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038993m	[env.py: 870]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88463768  0.3593357   0.03899292] yaw=181.9deg	[env.py: 1019]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8312515   0.39758058  0.03899292] yaw=178.5deg	[env.py: 1019]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14670907  1.16207746  0.03899292] yaw=-124.2deg	[env.py: 1019]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.359, 0.039)	[env.py: 1079]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
-05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:18:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:18:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:18:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:18:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:18:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:18:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 93.326[deg]	[grasp_sample.py: 539]
-05/10 18:18:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:18:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:18:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:18:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:18:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:18:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:18:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:18:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:18:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.322[deg]	[grasp_sample.py: 539]
-05/10 18:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:18:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:18:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:18:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:19:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:19:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:19:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:19:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:19:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:19:01 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.379[deg]	[grasp_sample.py: 539]
-05/10 18:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:19:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:19:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:19:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:19:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.675s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:19:12 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.863[deg]	[grasp_sample.py: 539]
-05/10 18:19:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:19:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:19:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:19:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:19:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:19:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:19:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:19:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:19:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:19:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:19:56 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.818s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:19:56 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.415[deg]	[grasp_sample.py: 539]
-05/10 18:19:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:19:59 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 18:19:59 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.58s:
-  episode_total: mean=216.24s, total=216.24s, count=1, min=216236.3ms, max=216236.3ms
-  sensor_polling: mean=528.0ms, total=158.41s, count=300, min=449.5ms, max=1013.4ms
-  physics_step: mean=24.8ms, total=7.44s, count=300, min=15.3ms, max=91.5ms
-  task_sampling: mean=583.0ms, total=583.0ms, count=1, min=583.0ms, max=583.0ms
-  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=643.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:19:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:19:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:19:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.33s (batch: 4.39s, save: 8.94s)	[pipeline.py: 300]
-05/10 18:20:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
-  episode_total: mean=227.35s, total=227.35s, count=1, min=227349.5ms, max=227349.5ms
-  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=451.3ms, max=1082.6ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8938.2ms, max=8938.2ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.6ms, max=76.9ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.6ms, max=4388.6ms
-  task_sampling: mean=750.2ms, total=750.2ms, count=1, min=750.2ms, max=750.2ms
-  task_specific_sample: mean=740.0ms, total=740.0ms, count=1, min=740.0ms, max=740.0ms
-  scene_randomize: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=651.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:20:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:20:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:20:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:20:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:20:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:20:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:20:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077890m	[env.py: 870]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:20:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93791047  1.03131512  0.07789031] yaw=-135.4deg	[env.py: 1019]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70608097  0.5469937   0.07789031] yaw=-172.4deg	[env.py: 1019]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62843384  0.46386394  0.07789031] yaw=187.1deg	[env.py: 1019]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:20:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.031, 0.078)	[env.py: 1079]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
-05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:20:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:20:01 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:20:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:20:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:20:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:20:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:20:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:20:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:20:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:20:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:20:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:20:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:20:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051252m	[env.py: 870]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:20:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73656483  0.07149442  0.05125223] yaw=151.1deg	[env.py: 1019]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09707554  1.12186884  0.05125223] yaw=-124.9deg	[env.py: 1019]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88308184  0.28698147  0.05125223] yaw=156.2deg	[env.py: 1019]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:20:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.3ms, total=113.4ms	[env.py: 1075]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.071, 0.051)	[env.py: 1079]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.1 deg	[env.py: 1082]
-05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:20:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:20:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:20:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:20:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:20:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:20:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.764s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:20:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.243[deg]	[grasp_sample.py: 539]
-05/10 18:20:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:20:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:20:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:20:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:20:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.627[m] 96.400[deg]	[grasp_sample.py: 539]
-05/10 18:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:20:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:20:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:20:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:20:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:20:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:20:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:20:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.440s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:20:18 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.456[deg]	[grasp_sample.py: 539]
-05/10 18:20:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:20:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:20:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:20:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:20:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:20:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:20:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:20:57 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 18:20:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:21:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:21:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:21:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:21:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:21:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.32s (batch: 4.34s, save: 8.98s)	[pipeline.py: 300]
-05/10 18:21:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:21:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
-  episode_total: mean=104.44s, total=208.89s, count=2, min=2215.1ms, max=206671.5ms
-  sensor_polling: mean=538.1ms, total=156.58s, count=291, min=441.6ms, max=954.3ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.4ms, max=8981.4ms
-  physics_step: mean=27.4ms, total=7.97s, count=291, min=16.2ms, max=111.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4339.5ms, max=4339.5ms
-  task_sampling: mean=461.6ms, total=923.3ms, count=2, min=427.0ms, max=496.3ms
-  task_specific_sample: mean=458.0ms, total=916.1ms, count=2, min=424.1ms, max=492.0ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=469.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:21:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:21:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:21:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:21:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072717m	[env.py: 870]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80409753  1.03842379  0.0727171 ] yaw=-139.7deg	[env.py: 1019]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11998763  1.00346928  0.0727171 ] yaw=-144.4deg	[env.py: 1019]
-05/10 18:21:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms	[env.py: 1075]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.038, 0.073)	[env.py: 1079]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
-05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:21:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:21:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:21:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.967s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:21:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 92.050[deg]	[grasp_sample.py: 539]
-05/10 18:21:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:21:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:21:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:21:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:21:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:21:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:21:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019422m	[env.py: 870]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:21:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64190896  0.48083145  0.01942239] yaw=175.2deg	[env.py: 1019]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87469711  0.56078347  0.01942239] yaw=-168.5deg	[env.py: 1019]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77516335  0.44285095  0.01942239] yaw=169.6deg	[env.py: 1019]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:21:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.5ms	[env.py: 1075]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.481, 0.019)	[env.py: 1079]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
-05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:21:21 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:21:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:21:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:21:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:21:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 99.226[deg]	[grasp_sample.py: 539]
-05/10 18:21:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:21:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:21:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:21:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:21:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:21:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:21:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:21:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:21:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:21:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:21:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.88s (batch: 4.38s, save: 11.50s)	[pipeline.py: 300]
-05/10 18:21:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.92s:
-  episode_total: mean=114.31s, total=228.63s, count=2, min=3729.9ms, max=224898.2ms
-  sensor_polling: mean=527.7ms, total=158.30s, count=300, min=452.5ms, max=899.0ms
-  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11499.6ms, max=11499.6ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.5ms, max=92.4ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.6ms, max=4384.6ms
-  task_sampling: mean=461.5ms, total=923.1ms, count=2, min=429.3ms, max=493.8ms
-  task_specific_sample: mean=457.2ms, total=914.4ms, count=2, min=425.5ms, max=488.9ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.3ms
-  mj_forward_sync: mean=611.5us, total=1.2ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:21:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:21:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:21:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:21:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:21:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:21:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075222m	[env.py: 870]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:21:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64104565  0.36985713  0.07522244] yaw=169.8deg	[env.py: 1019]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73384642  0.92436935  0.07522244] yaw=-148.0deg	[env.py: 1019]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99412053  0.84325952  0.07522244] yaw=-161.5deg	[env.py: 1019]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:21:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.6ms	[env.py: 1075]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.370, 0.075)	[env.py: 1079]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:21:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:21:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:21:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.274s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:21:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:21:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:21:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:21:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.308s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:21:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.587[m] 86.633[deg]	[grasp_sample.py: 539]
-05/10 18:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:21:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:21:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:22:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:22:48 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:22:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:23:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:23:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:23:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:23:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:23:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:23:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:23:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:23:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.311[deg]	[grasp_sample.py: 539]
-05/10 18:23:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:23:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:23:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:23:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:23:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:23:11 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:23:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:23:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:23:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:23:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:23:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:23:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:23:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.84s (batch: 4.52s, save: 11.31s)	[pipeline.py: 300]
-05/10 18:23:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.68s, total=212.68s, count=1, min=212682.4ms, max=212682.4ms
-  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=434.2ms, max=1001.7ms
-  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.4ms, max=11314.4ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.7ms, max=91.2ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.7ms, max=4524.7ms
-  task_sampling: mean=449.8ms, total=449.8ms, count=1, min=449.8ms, max=449.8ms
-  task_specific_sample: mean=446.1ms, total=446.1ms, count=1, min=446.1ms, max=446.1ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:23:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:23:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:23:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:23:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:23:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:23:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:23:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:23:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:23:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:23:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096006m	[env.py: 870]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:23:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82558658  1.01707047  0.0960055 ] yaw=-144.3deg	[env.py: 1019]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68222768  0.25559594  0.0960055 ] yaw=169.3deg	[env.py: 1019]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91870825  0.32265661  0.0960055 ] yaw=161.7deg	[env.py: 1019]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:23:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms	[env.py: 1075]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 1.017, 0.096)	[env.py: 1079]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg	[env.py: 1082]
-05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:23:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:23:36 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:23:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:23:37 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.571[m] 82.236[deg]	[grasp_sample.py: 539]
-05/10 18:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:23:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:23:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:23:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.11s (batch: 4.28s, save: 8.83s)	[pipeline.py: 300]
-05/10 18:23:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
-  episode_total: mean=226.97s, total=226.97s, count=1, min=226966.2ms, max=226966.2ms
-  sensor_polling: mean=527.0ms, total=158.09s, count=300, min=449.0ms, max=1155.7ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8828.1ms, max=8828.1ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=14.7ms, max=100.5ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.6ms, max=4283.6ms
-  task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
-  task_specific_sample: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=608.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:23:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:23:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:23:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:23:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:23:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003716m	[env.py: 870]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70310945  0.86830829  0.00371572] yaw=-153.1deg	[env.py: 1019]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94609299  0.9226251   0.00371572] yaw=-139.5deg	[env.py: 1019]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93739037  1.15726232  0.00371572] yaw=-129.8deg	[env.py: 1019]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.6ms, total=152.7ms	[env.py: 1075]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.868, 0.004)	[env.py: 1079]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
-05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:23:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:23:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:23:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.600s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:23:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.691[m] 98.743[deg]	[grasp_sample.py: 539]
-05/10 18:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:23:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:23:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:24:13 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:24:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:24:38 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:24:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:24:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:24:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:24:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:24:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.84s (batch: 4.80s, save: 9.04s)	[pipeline.py: 300]
-05/10 18:24:52 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.98s:
-  episode_total: mean=108.74s, total=217.47s, count=2, min=5730.7ms, max=211739.9ms
-  sensor_polling: mean=531.1ms, total=159.34s, count=300, min=442.0ms, max=1296.6ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9043.4ms, max=9043.4ms
-  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.9ms, max=119.2ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.3ms, max=4796.3ms
-  task_sampling: mean=492.2ms, total=984.4ms, count=2, min=478.9ms, max=505.5ms
-  task_specific_sample: mean=488.5ms, total=977.1ms, count=2, min=475.6ms, max=501.5ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=473.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:24:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:24:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035939m	[env.py: 870]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82148294  0.54387956  0.03593932] yaw=-181.9deg	[env.py: 1019]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90453997  0.25251471  0.03593932] yaw=160.0deg	[env.py: 1019]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82787093  0.8550738   0.03593932] yaw=-166.1deg	[env.py: 1019]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.3ms, total=177.3ms	[env.py: 1075]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.544, 0.036)	[env.py: 1079]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
-05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:24:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:24:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:24:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:24:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.548[deg]	[grasp_sample.py: 539]
-05/10 18:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:24:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:25:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:25:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:25:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:25:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 4.34s, save: 12.13s)	[pipeline.py: 300]
-05/10 18:25:39 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
-  episode_total: mean=227.57s, total=227.57s, count=1, min=227569.9ms, max=227569.9ms
-  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=447.2ms, max=912.4ms
-  save_trajectories: mean=12.13s, total=12.13s, count=1, min=12131.2ms, max=12131.2ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=18.9ms, max=85.0ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.2ms, max=4341.2ms
-  task_sampling: mean=543.4ms, total=543.4ms, count=1, min=543.4ms, max=543.4ms
-  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=550.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:25:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:25:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:25:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060104m	[env.py: 870]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18248766  1.04491582  0.06010427] yaw=-126.6deg	[env.py: 1019]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09884392  1.12320773  0.06010427] yaw=-132.3deg	[env.py: 1019]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84170569  0.6505663   0.06010427] yaw=-173.8deg	[env.py: 1019]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.9ms	[env.py: 1075]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.045, 0.060)	[env.py: 1079]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg	[env.py: 1082]
-05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:25:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:25:41 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:25:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.307[m] 85.220[deg]	[grasp_sample.py: 539]
-05/10 18:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:25:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:25:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:26:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:26:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:26:23 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:26:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:26:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:26:39 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:26:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:26:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:26:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:27:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:27:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:27:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:27:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:27:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:27:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.06s (batch: 4.32s, save: 8.74s)	[pipeline.py: 300]
-05/10 18:27:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.89s, total=208.89s, count=1, min=208894.6ms, max=208894.6ms
-  sensor_polling: mean=514.2ms, total=154.27s, count=300, min=441.5ms, max=873.2ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8738.9ms, max=8738.9ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.8ms, max=72.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.3ms, max=4322.3ms
-  task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms
-  task_specific_sample: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=419.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:27:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:27:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075829m	[env.py: 870]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02618609  1.19906698  0.07582945] yaw=-141.3deg	[env.py: 1019]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74269091  0.1592268   0.07582945] yaw=155.6deg	[env.py: 1019]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.6ms	[env.py: 1075]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.199, 0.076)	[env.py: 1079]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
-05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:27:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:27:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:27:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:27:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:27:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:27:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:27:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 86.801[deg]	[grasp_sample.py: 539]
-05/10 18:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:27:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:27:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:27:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024870m	[env.py: 870]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83286312  0.18988912  0.02486981] yaw=164.8deg	[env.py: 1019]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88542476  0.93948386  0.02486981] yaw=-155.2deg	[env.py: 1019]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95863129  1.18170033  0.02486981] yaw=-125.9deg	[env.py: 1019]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms	[env.py: 1075]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.190, 0.025)	[env.py: 1079]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg	[env.py: 1082]
-05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:27:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:27:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:27:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:27:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:27:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 86.661[deg]	[grasp_sample.py: 539]
-05/10 18:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:27:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:27:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:27:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:27:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.51s (batch: 4.07s, save: 9.44s)	[pipeline.py: 300]
-05/10 18:27:14 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s:
-  episode_total: mean=203.46s, total=203.46s, count=1, min=203464.1ms, max=203464.1ms
-  sensor_polling: mean=516.7ms, total=155.01s, count=300, min=440.4ms, max=823.1ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9442.8ms, max=9442.8ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=16.2ms, max=69.1ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.7ms, max=4071.7ms
-  task_sampling: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
-  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=448.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:27:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:27:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088182m	[env.py: 870]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79328662  0.31637843  0.08818196] yaw=175.8deg	[env.py: 1019]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87625644  1.01621028  0.08818196] yaw=-137.4deg	[env.py: 1019]
-05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98497724  0.96067277  0.08818196] yaw=-135.5deg	[env.py: 1019]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms	[env.py: 1075]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.316, 0.088)	[env.py: 1079]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
-05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:27:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:27:16 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:27:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:27:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:27:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:27:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:27:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.084[deg]	[grasp_sample.py: 539]
-05/10 18:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:27:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:27:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:27:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:27:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:12 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:28:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:28:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:28:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:28:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:28:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:28:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:28:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:28:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]	[grasp_sample.py: 539]
-05/10 18:28:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:28:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:28:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039647m	[env.py: 870]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02016365  0.90423889  0.03964739] yaw=-155.0deg	[env.py: 1019]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78144903  0.82750756  0.03964739] yaw=-168.7deg	[env.py: 1019]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82113173  0.62159758  0.03964739] yaw=-174.8deg	[env.py: 1019]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms	[env.py: 1075]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.904, 0.040)	[env.py: 1079]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg	[env.py: 1082]
-05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:28:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:28:20 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:28:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:28:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:28:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:28:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.190[deg]	[grasp_sample.py: 539]
-05/10 18:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:28:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:28:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:28:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:28:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:28:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:28:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.79s (batch: 5.03s, save: 8.76s)	[pipeline.py: 300]
-05/10 18:28:27 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=212.65s, total=212.65s, count=1, min=212655.0ms, max=212655.0ms
-  sensor_polling: mean=523.9ms, total=157.18s, count=300, min=443.2ms, max=944.8ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.4ms, max=8763.4ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=18.9ms, max=56.8ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5028.7ms, max=5028.7ms
-  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=512.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:28:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:28:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:28:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:28:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:28:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:28:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:28:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010712m	[env.py: 870]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:28:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93041884  0.95732258  0.01071194] yaw=-147.1deg	[env.py: 1019]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89331646  0.68459125  0.01071194] yaw=-175.3deg	[env.py: 1019]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.6ms, total=294.6ms	[env.py: 1075]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.957, 0.011)	[env.py: 1079]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
-05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:28:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:28:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:28:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:28:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:28:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:28:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:28:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.788s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:28:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.502[m] 80.868[deg]	[grasp_sample.py: 539]
-05/10 18:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:28:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:28:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:28:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:29:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:29:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:29:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.636[deg]	[grasp_sample.py: 539]
-05/10 18:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:29:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:29:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.802[deg]	[grasp_sample.py: 539]
-05/10 18:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:29:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:29:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:29:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:29:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.614[deg]	[grasp_sample.py: 539]
-05/10 18:29:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:30:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:30:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:30:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:30:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:30:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:30:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:30:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:30:41 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:30:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:30:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:30:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:30:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:30:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:30:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.18s, save: 9.43s)	[pipeline.py: 300]
-05/10 18:30:55 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=219.50s, total=219.50s, count=1, min=219503.2ms, max=219503.2ms
-  sensor_polling: mean=523.6ms, total=157.09s, count=300, min=447.1ms, max=1200.9ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.3ms, max=9431.3ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=106.4ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.0ms, max=4180.0ms
-  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:30:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:30:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:30:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.28s (batch: 4.26s, save: 10.01s)	[pipeline.py: 300]
-05/10 18:30:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
-  episode_total: mean=114.75s, total=229.49s, count=2, min=3081.0ms, max=226413.7ms
-  sensor_polling: mean=521.1ms, total=156.33s, count=300, min=444.4ms, max=1305.6ms
-  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10013.7ms, max=10013.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=14.1ms, max=122.5ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.4ms, max=4261.4ms
-  task_sampling: mean=425.4ms, total=850.7ms, count=2, min=362.2ms, max=488.6ms
-  task_specific_sample: mean=422.0ms, total=844.1ms, count=2, min=359.2ms, max=484.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=404.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:30:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:30:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000017m	[env.py: 870]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11444047e+00  1.11622486e+00  1.74444103e-05] yaw=-136.3deg	[env.py: 1019]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.93833133e-01  1.14634233e+00  1.74444103e-05] yaw=-136.7deg	[env.py: 1019]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.88718312e-01  1.01129296e+00  1.74444103e-05] yaw=-160.6deg	[env.py: 1019]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.6ms	[env.py: 1075]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.114, 1.116, 0.000)	[env.py: 1079]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
-05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:30:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:30:58 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:30:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:30:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:30:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:30:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:30:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.044[deg]	[grasp_sample.py: 539]
-05/10 18:30:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:30:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:30:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:30:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:30:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:30:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000533m	[env.py: 870]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.32542992e-01  3.56547225e-01  5.32749062e-04] yaw=183.6deg	[env.py: 1019]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.20997937e-01  7.33108986e-01  5.32749062e-04] yaw=-170.1deg	[env.py: 1019]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.61931662e-01  1.01785357e+00  5.32749062e-04] yaw=-153.6deg	[env.py: 1019]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms	[env.py: 1075]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.357, 0.001)	[env.py: 1079]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
-05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:30:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:30:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:30:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:30:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:30:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:30:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:30:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:30:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:31:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:31:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 85.206[deg]	[grasp_sample.py: 539]
-05/10 18:31:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:31:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:31:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:31:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:31:16 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:31:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:31:30 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 18:31:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:31:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:31:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:31:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:31:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:31:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.06s (batch: 4.58s, save: 9.48s)	[pipeline.py: 300]
-05/10 18:31:45 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=181.41s, total=362.83s, count=2, min=156899.0ms, max=205926.9ms
-  sensor_polling: mean=512.4ms, total=278.25s, count=543, min=431.9ms, max=1330.4ms
-  physics_step: mean=25.1ms, total=13.65s, count=543, min=14.3ms, max=74.6ms
-  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9480.3ms, max=9480.3ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.1ms, max=4581.1ms
-  task_sampling: mean=411.0ms, total=822.0ms, count=2, min=393.7ms, max=428.4ms
-  task_specific_sample: mean=407.0ms, total=814.1ms, count=2, min=389.7ms, max=424.3ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.6ms
-  mj_forward_sync: mean=429.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:31:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:31:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:31:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:31:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:31:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:31:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:31:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018289m	[env.py: 870]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:31:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72948014  0.29563262  0.01828905] yaw=173.0deg	[env.py: 1019]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91788805  0.86952399  0.01828905] yaw=-157.9deg	[env.py: 1019]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91773915  0.4636248   0.01828905] yaw=179.0deg	[env.py: 1019]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:31:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.7ms	[env.py: 1075]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.296, 0.018)	[env.py: 1079]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
-05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:31:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:31:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:31:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:31:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:31:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 80.734[deg]	[grasp_sample.py: 539]
-05/10 18:31:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:31:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:32:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:32:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.32s (batch: 4.83s, save: 11.49s)	[pipeline.py: 300]
-05/10 18:32:01 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.60s:
-  episode_total: mean=212.60s, total=212.60s, count=1, min=212599.7ms, max=212599.7ms
-  sensor_polling: mean=514.9ms, total=154.46s, count=300, min=438.6ms, max=1121.5ms
-  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11493.7ms, max=11493.7ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=16.3ms, max=77.4ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4829.2ms, max=4829.2ms
-  task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
-  task_specific_sample: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=401.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:32:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:32:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:32:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:32:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:32:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:32:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:32:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:32:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010441m	[env.py: 870]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:32:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92512348  0.62870478  0.01044149] yaw=-174.4deg	[env.py: 1019]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00633188  0.83874641  0.01044149] yaw=-146.7deg	[env.py: 1019]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03949257  1.31320479  0.01044149] yaw=-139.7deg	[env.py: 1019]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:32:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms	[env.py: 1075]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.629, 0.010)	[env.py: 1079]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
-05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:32:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:32:04 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:32:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:32:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:32:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:32:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:32:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:32:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 97.288[deg]	[grasp_sample.py: 539]
-05/10 18:32:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:32:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:32:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:32:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:33:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:33:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:33:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:33:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:33:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:33:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:33:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:33:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.309[deg]	[grasp_sample.py: 539]
-05/10 18:33:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:33:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:33:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:33:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:33:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058718m	[env.py: 870]
-05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75316236  0.09261206  0.05871826] yaw=167.0deg	[env.py: 1019]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90305874  1.0527639   0.05871826] yaw=-134.5deg	[env.py: 1019]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=170.0ms	[env.py: 1075]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.093, 0.059)	[env.py: 1079]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
-05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:33:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:33:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:33:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:33:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:33:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:33:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:33:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.539[m] 81.544[deg]	[grasp_sample.py: 539]
-05/10 18:33:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:33:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:33:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:33:45 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:34:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:34:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:34:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:34:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:34:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:34:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.92s (batch: 3.66s, save: 9.27s)	[pipeline.py: 300]
-05/10 18:34:19 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s:
-  episode_total: mean=199.93s, total=199.93s, count=1, min=199925.1ms, max=199925.1ms
-  sensor_polling: mean=511.6ms, total=153.49s, count=300, min=427.8ms, max=1108.8ms
-  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9267.1ms, max=9267.1ms
-  physics_step: mean=25.0ms, total=7.51s, count=300, min=16.4ms, max=94.3ms
-  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3656.5ms, max=3656.5ms
-  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=604.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:34:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:34:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:34:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:34:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:34:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:34:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:34:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043458m	[env.py: 870]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:34:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83839389  0.81468619  0.04345839] yaw=-154.4deg	[env.py: 1019]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6119678   0.3831289   0.04345839] yaw=180.2deg	[env.py: 1019]
-05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11991333  1.20904951  0.04345839] yaw=-136.4deg	[env.py: 1019]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:34:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.1ms	[env.py: 1075]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.815, 0.043)	[env.py: 1079]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg	[env.py: 1082]
-05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:34:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:34:21 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:34:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:34:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:34:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:34:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:34:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:34:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.513[m] 96.432[deg]	[grasp_sample.py: 539]
-05/10 18:34:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:34:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:34:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:34:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:34:33 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:34:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:34:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:34:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:34:59 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:34:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:34:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:35:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:35:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:35:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:35:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:35:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.63s (batch: 3.83s, save: 8.80s)	[pipeline.py: 300]
-05/10 18:35:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
-  episode_total: mean=205.44s, total=205.44s, count=1, min=205436.1ms, max=205436.1ms
-  sensor_polling: mean=498.1ms, total=149.42s, count=300, min=392.1ms, max=825.3ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8802.3ms, max=8802.3ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=15.2ms, max=93.1ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.7ms, max=3828.7ms
-  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
-  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=649.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:35:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:35:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:35:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:35:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:35:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:35:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:35:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:35:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077791m	[env.py: 870]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:35:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67987151  0.57744211  0.077791  ] yaw=-185.0deg	[env.py: 1019]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06018167  1.07918455  0.077791  ] yaw=-146.3deg	[env.py: 1019]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71930994  0.6029005   0.077791  ] yaw=-177.5deg	[env.py: 1019]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:35:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms	[env.py: 1075]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.577, 0.078)	[env.py: 1079]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg	[env.py: 1082]
-05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:35:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:35:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:35:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:35:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:35:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:35:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:35:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.627s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:35:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 98.253[deg]	[grasp_sample.py: 539]
-05/10 18:35:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:35:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:35:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:35:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:35:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:35:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.44s (batch: 4.46s, save: 9.98s)	[pipeline.py: 300]
-05/10 18:35:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=198.38s, total=198.38s, count=1, min=198375.8ms, max=198375.8ms
-  sensor_polling: mean=489.1ms, total=146.72s, count=300, min=410.8ms, max=823.3ms
-  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9980.2ms, max=9980.2ms
-  physics_step: mean=23.2ms, total=6.96s, count=300, min=18.2ms, max=76.7ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.1ms, max=4458.1ms
-  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
-  task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:35:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:35:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043621m	[env.py: 870]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87535482  0.80690426  0.04362115] yaw=-158.5deg	[env.py: 1019]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98776227  0.19365187  0.04362115] yaw=162.4deg	[env.py: 1019]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73009183  0.97126759  0.04362115] yaw=-156.0deg	[env.py: 1019]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.807, 0.044)	[env.py: 1079]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
-05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:35:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:35:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:35:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 92.631[deg]	[grasp_sample.py: 539]
-05/10 18:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:35:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:36:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:11 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:36:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:36:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:36:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:36:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:36:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:36:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:36:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:36:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:36:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:36:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:36:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.74s (batch: 4.06s, save: 7.68s)	[pipeline.py: 300]
-05/10 18:36:46 INFO: [Worker 0] Feasibility-checked 82 grasps in 7.933s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:36:46 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.281[m] 1.523[deg]	[grasp_sample.py: 539]
-05/10 18:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:36:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.16s:
-  episode_total: mean=174.17s, total=348.34s, count=2, min=158065.1ms, max=190276.0ms
-  sensor_polling: mean=495.2ms, total=275.84s, count=557, min=381.1ms, max=852.9ms
-  physics_step: mean=24.7ms, total=13.74s, count=557, min=14.7ms, max=87.5ms
-  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7683.2ms, max=7683.2ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.8ms, max=4058.8ms
-  task_sampling: mean=577.5ms, total=1.16s, count=2, min=423.3ms, max=731.7ms
-  task_specific_sample: mean=571.5ms, total=1.14s, count=2, min=419.7ms, max=723.3ms
-  scene_randomize: mean=4.4ms, total=8.8ms, count=2, min=1.7ms, max=7.1ms
-  mj_forward_sync: mean=450.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:36:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:36:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:36:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:36:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:36:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:36:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:36:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:36:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m	[env.py: 870]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:36:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07729987  1.19750495  0.0278163 ] yaw=-131.6deg	[env.py: 1019]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74722422  0.49670619  0.0278163 ] yaw=-188.2deg	[env.py: 1019]
-05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89779721  0.25119061  0.0278163 ] yaw=161.3deg	[env.py: 1019]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:36:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.7ms, total=137.8ms	[env.py: 1075]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.198, 0.028)	[env.py: 1079]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
-05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:36:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:36:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:36:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:36:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:36:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:36:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:36:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.573s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:36:51 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.514[m] 83.156[deg]	[grasp_sample.py: 539]
-05/10 18:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:36:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:36:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072373m	[env.py: 870]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05310339  1.21680149  0.07237347] yaw=-141.5deg	[env.py: 1019]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92834387  0.46160435  0.07237347] yaw=176.4deg	[env.py: 1019]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07103646  0.90667419  0.07237347] yaw=-139.9deg	[env.py: 1019]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.5ms	[env.py: 1075]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.053, 1.217, 0.072)	[env.py: 1079]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
-05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:36:54 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:36:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:36:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:36:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.053s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:36:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.617[m] 89.989[deg]	[grasp_sample.py: 539]
-05/10 18:36:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:36:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:36:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085483m	[env.py: 870]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78438683  0.22645539  0.08548272] yaw=154.6deg	[env.py: 1019]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72388311  0.72469983  0.08548272] yaw=-163.2deg	[env.py: 1019]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.2ms, total=179.2ms	[env.py: 1075]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.226, 0.085)	[env.py: 1079]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
-05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:36:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:36:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:36:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:36:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:36:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:36:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:37:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:37:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 97.955[deg]	[grasp_sample.py: 539]
-05/10 18:37:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:37:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:37:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:37:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:37:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:37:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:37:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:37:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:37:08 INFO: [Worker 0] Feasibility-checked 72 grasps in 4.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:37:08 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.171[m] 6.416[deg]	[grasp_sample.py: 539]
-05/10 18:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:37:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:37:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:37:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:37:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:37:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:37:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068088m	[env.py: 870]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69885532  0.8514408   0.06808755] yaw=-159.5deg	[env.py: 1019]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87694431  0.39150956  0.06808755] yaw=171.7deg	[env.py: 1019]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83458224  0.99870275  0.06808755] yaw=-147.3deg	[env.py: 1019]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.9ms	[env.py: 1075]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.851, 0.068)	[env.py: 1079]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
-05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:37:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:37:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:37:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:37:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:37:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:37:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.074s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:37:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 91.773[deg]	[grasp_sample.py: 539]
-05/10 18:37:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:37:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:37:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:37:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:37:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:37:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.72s (batch: 4.59s, save: 8.13s)	[pipeline.py: 300]
-05/10 18:37:23 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
-  episode_total: mean=182.80s, total=182.80s, count=1, min=182803.3ms, max=182803.3ms
-  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=394.6ms, max=890.3ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8126.2ms, max=8126.2ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.5ms, max=35.0ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.3ms, max=4589.3ms
-  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
-  task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=371.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:37:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:37:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:37:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:37:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:37:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:37:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:37:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030480m	[env.py: 870]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:37:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9958913   0.82098141  0.03048011] yaw=-156.4deg	[env.py: 1019]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9057847   0.12020668  0.03048011] yaw=153.7deg	[env.py: 1019]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86502394  1.17221916  0.03048011] yaw=-134.6deg	[env.py: 1019]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:37:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.8ms	[env.py: 1075]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.821, 0.030)	[env.py: 1079]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
-05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:37:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:37:25 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:37:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:37:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:37:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:37:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:37:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:37:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.323[m] 83.166[deg]	[grasp_sample.py: 539]
-05/10 18:37:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:37:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:37:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:37:50 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:37:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:37:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:38:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:38:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:38:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:38:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:38:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:38:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:38:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:38:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:38:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:38:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:38:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.86s (batch: 4.26s, save: 10.60s)	[pipeline.py: 300]
-05/10 18:38:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:38:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=182.73s, total=182.73s, count=1, min=182733.0ms, max=182733.0ms
-  sensor_polling: mean=456.7ms, total=137.01s, count=300, min=388.5ms, max=930.3ms
-  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10600.2ms, max=10600.2ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.1ms, max=49.7ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.4ms, max=4259.4ms
-  task_sampling: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
-  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:38:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070338m	[env.py: 870]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=277.8ms, total=277.8ms	[env.py: 1105]
-05/10 18:38:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 18:38:28 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 18:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:38:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:38:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:38:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089307m	[env.py: 870]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01211484  1.13161454  0.08930676] yaw=-129.2deg	[env.py: 1019]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.928507    0.14088822  0.08930676] yaw=145.2deg	[env.py: 1019]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62314829  0.55780837  0.08930676] yaw=-166.7deg	[env.py: 1019]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.1ms, total=108.1ms	[env.py: 1075]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.132, 0.089)	[env.py: 1079]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg	[env.py: 1082]
-05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:38:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:38:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:38:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:38:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:38:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:38:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.691s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:38:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.562[m] 91.314[deg]	[grasp_sample.py: 539]
-05/10 18:38:33 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:38:34 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:38:34 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:38:34 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
-05/10 18:38:34 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5011.57s
-  House averages:
-  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
-  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
-  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
-  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
-  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
-  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
-  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 18:38:34 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 18:38:34 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5011.57s
-  Worker averages:
-  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
-  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
-  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
-  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
-  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
-  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
-  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 18:38:37 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 18:38:37 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
-05/10 18:38:37 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 18:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:39:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.323s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:39:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.574[deg]	[grasp_sample.py: 539]
-05/10 18:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:39:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:39:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:39:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:39:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:39:47 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:39:49 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:40:00 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:40:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:40:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:40:06 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:40:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:40:06 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 18:40:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:40:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:40:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:40:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:40:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:40:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.82s, save: 7.28s)	[pipeline.py: 300]
-05/10 18:40:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.94s:
-  episode_total: mean=147.89s, total=295.77s, count=2, min=115395.4ms, max=180375.7ms
-  sensor_polling: mean=453.2ms, total=208.94s, count=461, min=380.8ms, max=858.2ms
-  physics_step: mean=20.6ms, total=9.48s, count=461, min=12.3ms, max=68.6ms
-  save_trajectories: mean=7.28s, total=7.28s, count=1, min=7278.4ms, max=7278.4ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3818.8ms, max=3818.8ms
-  task_sampling: mean=472.5ms, total=944.9ms, count=2, min=397.7ms, max=547.3ms
-  task_specific_sample: mean=468.5ms, total=936.9ms, count=2, min=394.0ms, max=542.9ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=3.0ms
-  mj_forward_sync: mean=549.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:40:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:40:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:40:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055230m	[env.py: 870]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98802913  0.77941833  0.05522998] yaw=-151.1deg	[env.py: 1019]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84023759  0.32563108  0.05522998] yaw=162.2deg	[env.py: 1019]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67306965  0.86819006  0.05522998] yaw=-153.6deg	[env.py: 1019]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.2ms	[env.py: 1075]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.779, 0.055)	[env.py: 1079]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
-05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:40:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:40:13 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:40:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:40:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:40:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:40:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 89.154[deg]	[grasp_sample.py: 539]
-05/10 18:40:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:40:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:40:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:40:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:40:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:40:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 10.53s (batch: 3.75s, save: 6.78s)	[pipeline.py: 300]
-05/10 18:40:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=171.88s, total=171.88s, count=1, min=171883.7ms, max=171883.7ms
-  sensor_polling: mean=461.6ms, total=131.57s, count=285, min=386.5ms, max=861.9ms
-  save_trajectories: mean=6.78s, total=6.78s, count=1, min=6779.0ms, max=6779.0ms
-  physics_step: mean=21.6ms, total=6.14s, count=285, min=15.0ms, max=68.3ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.6ms, max=3750.6ms
-  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
-  task_specific_sample: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:40:18 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:40:18 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:40:18 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/10 18:40:18 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5205.25s
-  House averages:
-  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
-  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
-  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
-  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
-  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
-  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
-  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 18:40:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 18:40:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5205.25s
-  Worker averages:
-  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
-  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
-  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
-  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
-  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
-  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
-  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 18:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:40:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:40:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.42s (batch: 3.91s, save: 7.51s)	[pipeline.py: 300]
-05/10 18:40:21 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 18:40:21 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/10 18:40:21 INFO: Success rate: 92.31%	[pipeline.py: 1492]
-05/10 18:40:21 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
-  episode_total: mean=69.83s, total=209.50s, count=3, min=3453.7ms, max=202195.3ms
-  sensor_polling: mean=462.2ms, total=138.67s, count=300, min=396.4ms, max=882.2ms
-  save_trajectories: mean=7.51s, total=7.51s, count=1, min=7511.5ms, max=7511.5ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=13.4ms, max=59.6ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.2ms, max=3906.2ms
-  task_sampling: mean=429.9ms, total=1.29s, count=3, min=322.2ms, max=545.0ms
-  task_specific_sample: mean=426.6ms, total=1.28s, count=3, min=319.6ms, max=539.8ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.1ms, max=3.4ms
-  mj_forward_sync: mean=469.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:40:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:40:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:40:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:40:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:40:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:40:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:40:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035219m	[env.py: 870]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:40:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88441163  1.0147874   0.03521872] yaw=-146.1deg	[env.py: 1019]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11070662  1.1058788   0.03521872] yaw=-142.9deg	[env.py: 1019]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81109134  0.30615233  0.03521872] yaw=165.1deg	[env.py: 1019]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:40:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms	[env.py: 1075]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 1.015, 0.035)	[env.py: 1079]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
-05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:40:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:40:23 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:40:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:40:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:40:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:40:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:40:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.837s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:40:27 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.523[m] 78.992[deg]	[grasp_sample.py: 539]
-05/10 18:40:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:40:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:40:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:40:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:40:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:41:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:41:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:41:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:41:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:42:29 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:42:43 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:42:51 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:42:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:42:51 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 18:43:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:43:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:43:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:43:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:43:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.96s (batch: 3.85s, save: 8.11s)	[pipeline.py: 300]
-05/10 18:43:04 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=170.90s, total=170.90s, count=1, min=170895.1ms, max=170895.1ms
-  sensor_polling: mean=427.3ms, total=126.04s, count=295, min=372.7ms, max=805.4ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.2ms, max=8110.2ms
-  physics_step: mean=20.4ms, total=6.03s, count=295, min=13.5ms, max=45.9ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.4ms, max=3850.4ms
-  task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  task_specific_sample: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:43:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:43:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:43:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036145m	[env.py: 870]
-05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88305361  1.11725947  0.03614477] yaw=-136.0deg	[env.py: 1019]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08304382  1.07871692  0.03614477] yaw=-145.1deg	[env.py: 1019]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96054729  0.13942707  0.03614477] yaw=152.4deg	[env.py: 1019]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:43:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms	[env.py: 1075]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 1.117, 0.036)	[env.py: 1079]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
-05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:43:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:43:06 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:43:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:43:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:43:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.544s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:43:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 90.584[deg]	[grasp_sample.py: 539]
-05/10 18:43:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:43:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:43:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:43:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:43:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:43:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.82s (batch: 3.94s, save: 7.88s)	[pipeline.py: 300]
-05/10 18:43:14 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.51s:
-  episode_total: mean=171.53s, total=171.53s, count=1, min=171531.2ms, max=171531.2ms
-  sensor_polling: mean=420.2ms, total=126.05s, count=300, min=366.2ms, max=759.4ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.9ms, max=7884.9ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.5ms, max=68.6ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.8ms, max=3936.8ms
-  task_sampling: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  task_specific_sample: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:43:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:43:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:43:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:43:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:43:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:43:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:43:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092368m	[env.py: 870]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:43:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16724396  1.00984182  0.09236771] yaw=-133.1deg	[env.py: 1019]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9910261   0.84610897  0.09236771] yaw=-162.7deg	[env.py: 1019]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9549785   1.10251601  0.09236771] yaw=-138.3deg	[env.py: 1019]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:43:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.3ms, total=98.3ms	[env.py: 1075]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.167, 1.010, 0.092)	[env.py: 1079]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:43:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:43:16 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:43:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:43:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:43:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:43:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:43:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:43:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.305[m] 88.902[deg]	[grasp_sample.py: 539]
-05/10 18:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:43:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:43:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:44:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:44:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:44:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:45:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:45:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:45:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:45:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:45:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:45:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:45:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:45:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.329s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:45:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.360[deg]	[grasp_sample.py: 539]
-05/10 18:45:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.299s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:45:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.622[deg]	[grasp_sample.py: 539]
-05/10 18:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:45:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:45:32 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:45:32 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:45:32 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
-05/10 18:45:32 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5770.94s
-  House averages:
-  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
-  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
-  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
-  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
-  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
-  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
-  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 18:45:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 18:45:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5770.94s
-  Worker averages:
-  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
-  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
-  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
-  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
-  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
-  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
-  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 18:45:34 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:45:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 18:45:34 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
-05/10 18:45:34 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 18:45:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
-05/10 18:45:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:45:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:46:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:46:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
-05/10 18:46:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.79s, save: 7.31s)	[pipeline.py: 300]
-05/10 18:46:07 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.27s, total=181.27s, count=1, min=181268.6ms, max=181268.6ms
-  sensor_polling: mean=421.2ms, total=126.37s, count=300, min=364.4ms, max=778.3ms
-  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7309.2ms, max=7309.2ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.6ms, max=62.3ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.1ms, max=3790.1ms
-  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
-  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=390.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:46:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016724m	[env.py: 870]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01105646  1.24629312  0.01672395] yaw=-123.5deg	[env.py: 1019]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6744023   0.17334093  0.01672395] yaw=155.8deg	[env.py: 1019]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0912006   0.95800413  0.01672395] yaw=-137.6deg	[env.py: 1019]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.2ms, total=61.2ms	[env.py: 1075]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.246, 0.017)	[env.py: 1079]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg	[env.py: 1082]
-05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:46:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:46:09 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:46:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:46:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:46:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:46:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 90.362[deg]	[grasp_sample.py: 539]
-05/10 18:46:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:47:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:47:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:47:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:47:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:47:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:47:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:47:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 86 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:47:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.326s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 18:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 18:47:56 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:47:56 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
-05/10 18:47:56 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
-05/10 18:47:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5989.18s
-  House averages:
-  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
-  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
-  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
-  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
-  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
-  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
-  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 18:47:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 18:47:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5989.18s
-  Worker averages:
-  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
-  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
-  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
-  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
-  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
-  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
-  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 18:47:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 18:47:58 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
-05/10 18:47:58 INFO: Success rate: 92.86%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_005/shard_1_of_4.log b/fridge_7/chunk_005/shard_1_of_4.log
deleted file mode 100644
index 67cb0fce6474cbd4357660bf3436c25555e96e4a..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_005/shard_1_of_4.log
+++ /dev/null
@@ -1,1635 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
-  shard=1/4  seed=20501  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 17:52:24 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f8d7afc1bd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20501,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 17:52:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 17:52:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 140245627202960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140245627202960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 140245627202960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140245627202960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 140245627076112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140245627076112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140245627076240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140245627076240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140245627076240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140245627076240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140245627076112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140245627076112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140245627241936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140245627241936 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140245627242512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140245627242512 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 140245627242512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140245627242512 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140245627241936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140245627241936 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 17:52:24 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 58f46e8283d0 at 0x7f8d7b530dd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58f46e855f70 at 0x7f8d7b544bd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58f46e855f70 at 0x7f8d7b526250>
-[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072128m
-[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01279411  1.25093177  0.07212764] yaw=-135.5deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79243203  0.3439664   0.07212764] yaw=175.9deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84702069  0.38589366  0.07212764] yaw=184.2deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=30.5ms, retries=196.2ms, total=226.8ms
-[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.251, 0.072)
-[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 35.098s
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 17:53:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.692s, found feasible grasp: True
-[05/10 17:53:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 88.058[deg]
-[05/10 17:53:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:55:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:55:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:55:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
-[05/10 17:55:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.672s, found feasible grasp: True
-[05/10 17:55:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 2.289[deg]
-[05/10 17:55:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 17:55:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:55:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:55:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
-[05/10 17:56:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 3.203s, found feasible grasp: False
-[05/10 17:56:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 17:56:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 17:56:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072954m
-[05/10 17:56:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83051939  0.62145997  0.0729539 ] yaw=-160.9deg
-[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92384335  1.07285417  0.0729539 ] yaw=-151.5deg
-[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76812818  0.10182049  0.0729539 ] yaw=148.6deg
-[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:56:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.2ms, total=225.3ms
-[05/10 17:56:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.621, 0.073)
-[05/10 17:56:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
-[05/10 17:56:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:56:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 17:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 17:56:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:56:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:56:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 17:56:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True
-[05/10 17:56:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.464[m] 90.553[deg]
-[05/10 17:56:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:58:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 17:59:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:59:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 17:59:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:59:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 17:59:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:59:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.03s (batch: 5.08s, save: 8.94s)
-[05/10 17:59:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.73s:
-  episode_total: mean=215.69s, total=431.39s, count=2, min=213853.3ms, max=217531.9ms
-  sensor_polling: mean=517.2ms, total=294.30s, count=569, min=426.2ms, max=804.4ms
-  physics_step: mean=25.1ms, total=14.31s, count=569, min=17.6ms, max=109.4ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8944.7ms, max=8944.7ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5084.2ms, max=5084.2ms
-  task_sampling: mean=2.37s, total=4.73s, count=2, min=532.7ms, max=4198.2ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  task_specific_sample: mean=550.5ms, total=1.10s, count=2, min=529.5ms, max=571.4ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  scene_randomize: mean=4.5ms, total=8.9ms, count=2, min=1.6ms, max=7.3ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  mj_forward_sync: mean=1.1ms, total=2.2ms, count=2, min=0.5ms, max=1.6ms
-  policy_setup: mean=28.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 17:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098611m
-[05/10 17:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87097755  0.39197488  0.09861113] yaw=179.6deg
-[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89885229  0.26118804  0.09861113] yaw=163.1deg
-[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98654146  0.71303406  0.09861113] yaw=-160.4deg
-[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:59:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:59:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.2ms, total=256.3ms
-[05/10 17:59:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.392, 0.099)
-[05/10 17:59:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg
-[05/10 17:59:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.836m
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:59:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:59:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 17:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/10 17:59:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:59:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:59:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:59:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True
-[05/10 17:59:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.409[m] 90.560[deg]
-[05/10 17:59:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:00:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:00:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:01:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:01:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:01:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:01:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
-[05/10 18:01:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True
-[05/10 18:01:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg]
-[05/10 18:01:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:02:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:03:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:03:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:03:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.70s (batch: 4.07s, save: 10.63s)
-[05/10 18:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
-  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.4ms, max=223738.4ms
-  sensor_polling: mean=528.5ms, total=158.55s, count=300, min=450.9ms, max=983.0ms
-  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.3ms, max=10626.3ms
-  physics_step: mean=27.8ms, total=8.34s, count=300, min=15.7ms, max=89.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.8ms, max=4071.8ms
-  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
-  task_specific_sample: mean=529.1ms, total=529.1ms, count=1, min=529.1ms, max=529.1ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:03:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:03:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 18:03:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:03:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:03:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083966m
-[05/10 18:03:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:03:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:03:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71364363  0.40425663  0.08396626] yaw=176.0deg
-[05/10 18:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8498132   0.15936157  0.08396626] yaw=164.7deg
-[05/10 18:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7127387   0.73686167  0.08396626] yaw=-176.3deg
-[05/10 18:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:03:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:03:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.7ms
-[05/10 18:03:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.404, 0.084)
-[05/10 18:03:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
-[05/10 18:03:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
-[05/10 18:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:03:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 18:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
-[05/10 18:03:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 18:03:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True
-[05/10 18:03:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.510[m] 76.315[deg]
-[05/10 18:03:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:04:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:04:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:06:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:07:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:07:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:07:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:07:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:07:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:07:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.69s (batch: 4.12s, save: 8.57s)
-[05/10 18:07:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.61s:
-  episode_total: mean=251.00s, total=251.00s, count=1, min=250997.5ms, max=250997.5ms
-  sensor_polling: mean=512.9ms, total=153.88s, count=300, min=449.6ms, max=970.9ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8568.9ms, max=8568.9ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.8ms, max=85.0ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms
-  task_sampling: mean=608.4ms, total=608.4ms, count=1, min=608.4ms, max=608.4ms
-  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=590.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:07:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:07:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/10 18:07:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:07:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:07:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098462m
-[05/10 18:07:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:07:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:07:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98098428  1.28315984  0.09846237] yaw=-122.5deg
-[05/10 18:07:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:07:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:07:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=311.4ms, total=311.4ms
-[05/10 18:07:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.283, 0.098)
-[05/10 18:07:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg
-[05/10 18:07:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:07:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 18:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 18:07:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:07:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:07:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 18:07:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: False
-[05/10 18:07:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 18:07:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:07:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 18:07:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:07:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:07:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016369m
-[05/10 18:07:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:07:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:07:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85317905  1.10212424  0.01636906] yaw=-141.9deg
-[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78270697  0.81568483  0.01636906] yaw=-164.0deg
-[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81312568  0.03620226  0.01636906] yaw=152.4deg
-[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:07:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:07:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms
-[05/10 18:07:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 1.102, 0.016)
-[05/10 18:07:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg
-[05/10 18:07:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:07:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 18:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/10 18:07:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:07:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:07:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/10 18:07:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.751s, found feasible grasp: True
-[05/10 18:07:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.608[m] 79.034[deg]
-[05/10 18:07:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:10:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 18:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:10:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:10:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:10:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 68 non-colliding grasps
-[05/10 18:10:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 1.588s, found feasible grasp: False
-[05/10 18:10:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 402, in get_action
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 18:10:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:10:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:10:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 18:10:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:10:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:10:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092690m
-[05/10 18:10:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:10:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:10:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88442039  0.6793782   0.09269017] yaw=-155.7deg
-[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19762019  1.09839112  0.09269017] yaw=-137.5deg
-[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82290531  0.29104865  0.09269017] yaw=178.5deg
-[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:10:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:10:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms
-[05/10 18:10:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.679, 0.093)
-[05/10 18:10:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg
-[05/10 18:10:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:10:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:10:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:10:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 18:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 18:10:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:10:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:10:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 18:10:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True
-[05/10 18:10:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 86.455[deg]
-[05/10 18:10:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:11:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:13:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:13:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:13:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:13:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 18:14:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:14:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:14:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.52s (batch: 4.20s, save: 8.31s)
-[05/10 18:14:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.63s:
-  episode_total: mean=128.29s, total=384.87s, count=3, min=2466.6ms, max=210047.2ms
-  sensor_polling: mean=525.8ms, total=312.86s, count=595, min=438.8ms, max=1193.3ms
-  physics_step: mean=26.1ms, total=15.54s, count=595, min=16.0ms, max=109.7ms
-  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8314.2ms, max=8314.2ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.4ms, max=4204.4ms
-  task_sampling: mean=544.6ms, total=1.63s, count=3, min=490.2ms, max=595.7ms
-  task_specific_sample: mean=541.2ms, total=1.62s, count=3, min=487.3ms, max=592.0ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=495.8us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=20.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 18:14:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:14:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:14:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 18:14:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:14:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:14:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079468m
-[05/10 18:14:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:14:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:14:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02339654  0.9790538   0.07946751] yaw=-132.8deg
-[05/10 18:14:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:14:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.8ms, total=225.8ms
-[05/10 18:14:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.979, 0.079)
-[05/10 18:14:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
-[05/10 18:14:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:14:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:14:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 18:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 18:14:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:14:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:14:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:14:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True
-[05/10 18:14:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 91.754[deg]
-[05/10 18:14:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:15:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:17:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:17:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:17:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:17:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:17:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:17:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:17:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.57s, save: 8.44s)
-[05/10 18:17:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=210.85s, total=210.85s, count=1, min=210851.1ms, max=210851.1ms
-  sensor_polling: mean=534.7ms, total=160.42s, count=300, min=438.7ms, max=1102.6ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.6ms, max=8435.6ms
-  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.2ms, max=79.6ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4566.6ms, max=4566.6ms
-  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
-  task_specific_sample: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:17:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:17:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 18:17:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:17:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:17:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045743m
-[05/10 18:17:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:17:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:17:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97234935  1.2735712   0.04574261] yaw=-127.5deg
-[05/10 18:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94842868  0.98226963  0.04574261] yaw=-137.3deg
-[05/10 18:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:17:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:17:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms
-[05/10 18:17:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.274, 0.046)
-[05/10 18:17:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg
-[05/10 18:17:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:17:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 18:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 18:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:17:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 18:17:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.578s, found feasible grasp: False
-[05/10 18:17:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 18:17:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:17:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 18:17:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:17:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:17:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002934m
-[05/10 18:17:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:17:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:17:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01835073  0.91997506  0.00293359] yaw=-149.6deg
-[05/10 18:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:17:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95194022  0.62305237  0.00293359] yaw=-179.4deg
-[05/10 18:17:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:17:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:17:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms
-[05/10 18:17:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.920, 0.003)
-[05/10 18:17:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg
-[05/10 18:17:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.812m
-[05/10 18:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:17:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 18:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 18:17:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:17:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:17:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 18:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
-[05/10 18:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 86.774[deg]
-[05/10 18:17:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:20:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:20:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:20:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:20:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps
-[05/10 18:21:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:21:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:21:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.32s (batch: 4.34s, save: 8.98s)
-[05/10 18:21:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
-  episode_total: mean=104.44s, total=208.89s, count=2, min=2215.1ms, max=206671.5ms
-  sensor_polling: mean=538.1ms, total=156.58s, count=291, min=441.6ms, max=954.3ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.4ms, max=8981.4ms
-  physics_step: mean=27.4ms, total=7.97s, count=291, min=16.2ms, max=111.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4339.5ms, max=4339.5ms
-  task_sampling: mean=461.6ms, total=923.3ms, count=2, min=427.0ms, max=496.3ms
-  task_specific_sample: mean=458.0ms, total=916.1ms, count=2, min=424.1ms, max=492.0ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=469.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:21:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:21:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 18:21:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:21:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:21:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072717m
-[05/10 18:21:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:21:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:21:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80409753  1.03842379  0.0727171 ] yaw=-139.7deg
-[05/10 18:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11998763  1.00346928  0.0727171 ] yaw=-144.4deg
-[05/10 18:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:21:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:21:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms
-[05/10 18:21:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.038, 0.073)
-[05/10 18:21:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg
-[05/10 18:21:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:21:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 18:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
-[05/10 18:21:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:21:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:21:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 18:21:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.967s, found feasible grasp: True
-[05/10 18:21:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.662[m] 92.050[deg]
-[05/10 18:21:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:21:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:21:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/10 18:21:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:21:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:21:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019422m
-[05/10 18:21:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:21:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:21:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:21:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64190896  0.48083145  0.01942239] yaw=175.2deg
-[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87469711  0.56078347  0.01942239] yaw=-168.5deg
-[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77516335  0.44285095  0.01942239] yaw=169.6deg
-[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:21:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:21:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.5ms
-[05/10 18:21:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.481, 0.019)
-[05/10 18:21:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
-[05/10 18:21:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:21:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 18:21:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 18:21:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:21:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:21:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 18:21:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True
-[05/10 18:21:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.640[m] 99.226[deg]
-[05/10 18:21:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:24:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:24:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:24:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:24:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:24:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:24:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:24:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.84s (batch: 4.80s, save: 9.04s)
-[05/10 18:24:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.98s:
-  episode_total: mean=108.74s, total=217.47s, count=2, min=5730.7ms, max=211739.9ms
-  sensor_polling: mean=531.1ms, total=159.34s, count=300, min=442.0ms, max=1296.6ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9043.4ms, max=9043.4ms
-  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.9ms, max=119.2ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.3ms, max=4796.3ms
-  task_sampling: mean=492.2ms, total=984.4ms, count=2, min=478.9ms, max=505.5ms
-  task_specific_sample: mean=488.5ms, total=977.1ms, count=2, min=475.6ms, max=501.5ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=473.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:24:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:24:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:24:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/10 18:24:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:24:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:24:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035939m
-[05/10 18:24:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:24:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:24:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82148294  0.54387956  0.03593932] yaw=-181.9deg
-[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90453997  0.25251471  0.03593932] yaw=160.0deg
-[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82787093  0.8550738   0.03593932] yaw=-166.1deg
-[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:24:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:24:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.3ms, total=177.3ms
-[05/10 18:24:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.544, 0.036)
-[05/10 18:24:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg
-[05/10 18:24:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:24:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:24:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 18:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
-[05/10 18:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
-[05/10 18:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True
-[05/10 18:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.548[deg]
-[05/10 18:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:27:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:28:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:28:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:28:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:28:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:28:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:28:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.79s (batch: 5.03s, save: 8.76s)
-[05/10 18:28:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=212.65s, total=212.65s, count=1, min=212655.0ms, max=212655.0ms
-  sensor_polling: mean=523.9ms, total=157.18s, count=300, min=443.2ms, max=944.8ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.4ms, max=8763.4ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=18.9ms, max=56.8ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5028.7ms, max=5028.7ms
-  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=512.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:28:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:28:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:28:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:28:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:28:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:28:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:28:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 18:28:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:28:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:28:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010712m
-[05/10 18:28:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:28:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:28:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:28:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93041884  0.95732258  0.01071194] yaw=-147.1deg
-[05/10 18:28:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:28:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89331646  0.68459125  0.01071194] yaw=-175.3deg
-[05/10 18:28:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:28:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:28:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.6ms, total=294.6ms
-[05/10 18:28:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.957, 0.011)
-[05/10 18:28:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg
-[05/10 18:28:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.907m
-[05/10 18:28:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:28:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:28:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:28:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:28:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 18:28:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 18:28:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:28:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:28:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 18:28:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.788s, found feasible grasp: True
-[05/10 18:28:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.502[m] 80.868[deg]
-[05/10 18:28:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:28:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:28:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:31:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:31:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:31:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:31:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:32:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:32:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:32:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.32s (batch: 4.83s, save: 11.49s)
-[05/10 18:32:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.60s:
-  episode_total: mean=212.60s, total=212.60s, count=1, min=212599.7ms, max=212599.7ms
-  sensor_polling: mean=514.9ms, total=154.46s, count=300, min=438.6ms, max=1121.5ms
-  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11493.7ms, max=11493.7ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=16.3ms, max=77.4ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4829.2ms, max=4829.2ms
-  task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
-  task_specific_sample: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=401.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:32:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:32:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:32:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 18:32:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:32:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:32:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010441m
-[05/10 18:32:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:32:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:32:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92512348  0.62870478  0.01044149] yaw=-174.4deg
-[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00633188  0.83874641  0.01044149] yaw=-146.7deg
-[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:32:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03949257  1.31320479  0.01044149] yaw=-139.7deg
-[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:32:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:32:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms
-[05/10 18:32:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.629, 0.010)
-[05/10 18:32:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg
-[05/10 18:32:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:32:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:32:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 18:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 18:32:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:32:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:32:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 18:32:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True
-[05/10 18:32:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.404[m] 97.288[deg]
-[05/10 18:32:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:34:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:35:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:35:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:35:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:35:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:35:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:35:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.44s (batch: 4.46s, save: 9.98s)
-[05/10 18:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=198.38s, total=198.38s, count=1, min=198375.8ms, max=198375.8ms
-  sensor_polling: mean=489.1ms, total=146.72s, count=300, min=410.8ms, max=823.3ms
-  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9980.2ms, max=9980.2ms
-  physics_step: mean=23.2ms, total=6.96s, count=300, min=18.2ms, max=76.7ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.1ms, max=4458.1ms
-  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
-  task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:35:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:35:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:35:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 18:35:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:35:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:35:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043621m
-[05/10 18:35:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:35:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:35:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87535482  0.80690426  0.04362115] yaw=-158.5deg
-[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98776227  0.19365187  0.04362115] yaw=162.4deg
-[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73009183  0.97126759  0.04362115] yaw=-156.0deg
-[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
-[05/10 18:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.807, 0.044)
-[05/10 18:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
-[05/10 18:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 18:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 18:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:35:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 18:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
-[05/10 18:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 92.631[deg]
-[05/10 18:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:37:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:38:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:38:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
-[05/10 18:38:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:38:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:38:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:38:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.86s (batch: 4.26s, save: 10.60s)
-[05/10 18:38:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=182.73s, total=182.73s, count=1, min=182733.0ms, max=182733.0ms
-  sensor_polling: mean=456.7ms, total=137.01s, count=300, min=388.5ms, max=930.3ms
-  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10600.2ms, max=10600.2ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.1ms, max=49.7ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.4ms, max=4259.4ms
-  task_sampling: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
-  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 18:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070338m
-[05/10 18:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:28 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=277.8ms, total=277.8ms
-[05/10 18:38:28 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 18:38:28 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 18:38:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:38:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:38:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 18:38:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:38:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:38:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089307m
-[05/10 18:38:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:38:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:38:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01211484  1.13161454  0.08930676] yaw=-129.2deg
-[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.928507    0.14088822  0.08930676] yaw=145.2deg
-[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62314829  0.55780837  0.08930676] yaw=-166.7deg
-[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:38:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:38:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.1ms, total=108.1ms
-[05/10 18:38:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.132, 0.089)
-[05/10 18:38:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg
-[05/10 18:38:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.948m
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:38:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:38:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:38:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 18:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 18:38:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:38:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:38:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:38:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.691s, found feasible grasp: True
-[05/10 18:38:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.562[m] 91.314[deg]
-[05/10 18:38:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:38:34 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:38:34 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:38:34 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
-[05/10 18:38:34 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5011.57s
-  House averages:
-  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
-  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
-  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
-  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
-  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
-  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
-  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:38:34 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 18:38:34 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5011.57s
-  Worker averages:
-  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
-  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
-  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
-  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
-  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
-  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
-  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
-  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
-  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
-  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
-  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
-  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
-  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
-  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
-  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
-  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
-  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:38:37 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 18:38:37 INFO pipeline.py:1491] Success count: 11, Total count: 11
-[05/10 18:38:37 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
-==========================================
diff --git a/fridge_7/chunk_005/shard_2_of_4.log b/fridge_7/chunk_005/shard_2_of_4.log
deleted file mode 100644
index 2995e03817c50b68c88f3829912722a8ff5ba6bb..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_005/shard_2_of_4.log
+++ /dev/null
@@ -1,1802 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
-  shard=2/4  seed=20502  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 17:52:24 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x770679454550>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20502,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 17:52:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 17:52:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130869686269648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130869686269648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130869686269648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130869686269648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130869691629136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130869691629136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130869691629008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130869691629008 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130869691629008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130869691629008 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130869691629136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130869691629136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130869686354128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130869686354128 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130869686360016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130869686360016 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130869686360016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130869686360016 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130869686354128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130869686354128 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 17:52:24 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 638a2aea2720 at 0x7706799b1450>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 638a2aea41f0 at 0x7706797c8ed0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 638a2aea41f0 at 0x77067993fe90>
-[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 17:52:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:52:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:52:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020760m
-[05/10 17:52:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:52:27 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 17:52:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63593904  0.27675816  0.02075952] yaw=160.3deg
-[05/10 17:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82218648  0.88892956  0.02075952] yaw=-144.5deg
-[05/10 17:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1517438   1.04800287  0.02075952] yaw=-144.4deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=99.6ms, total=112.2ms
-[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.277, 0.021)
-[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 17:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.893s
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.599[m] 83.807[deg]
-[05/10 17:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:55:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:55:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:55:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:55:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 17:55:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True
-[05/10 17:55:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.258[deg]
-[05/10 17:55:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:55:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:56:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 17:56:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 17:56:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:56:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 17:56:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.49s (batch: 4.47s, save: 10.02s)
-[05/10 17:56:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.60s:
-  episode_total: mean=273.90s, total=273.90s, count=1, min=273904.3ms, max=273904.3ms
-  sensor_polling: mean=528.6ms, total=158.59s, count=300, min=444.5ms, max=942.2ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10019.0ms, max=10019.0ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=53.6ms
-  task_sampling: mean=4.60s, total=4.60s, count=1, min=4598.7ms, max=4598.7ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4470.5ms, max=4470.5ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  task_specific_sample: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:56:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 17:56:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029534m
-[05/10 17:56:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84390957  0.80185654  0.02953442] yaw=-158.1deg
-[05/10 17:56:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9737659   1.09163266  0.02953442] yaw=-137.2deg
-[05/10 17:56:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:56:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms
-[05/10 17:56:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.802, 0.030)
-[05/10 17:56:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg
-[05/10 17:56:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.916m
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:57:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:57:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 17:57:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
-[05/10 17:57:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:57:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:57:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 17:57:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.263s, found feasible grasp: True
-[05/10 17:57:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.518[m] 92.437[deg]
-[05/10 17:57:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:57:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:59:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:00:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:00:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:00:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:00:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:00:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:00:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.92s (batch: 5.22s, save: 10.70s)
-[05/10 18:00:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.57s:
-  episode_total: mean=208.16s, total=208.16s, count=1, min=208160.6ms, max=208160.6ms
-  sensor_polling: mean=512.6ms, total=153.77s, count=300, min=450.9ms, max=1009.5ms
-  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10700.6ms, max=10700.6ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=18.5ms, max=94.0ms
-  save_batch_prep: mean=5.22s, total=5.22s, count=1, min=5216.9ms, max=5216.9ms
-  task_sampling: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  task_specific_sample: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:00:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:00:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:00:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:00:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:00:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:00:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 18:00:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:00:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:00:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081904m
-[05/10 18:00:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:00:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:00:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:00:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8897349   0.44533364  0.08190392] yaw=188.6deg
-[05/10 18:00:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:00:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:00:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14760809  1.12987597  0.08190392] yaw=-119.9deg
-[05/10 18:00:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:00:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:00:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78035005  0.51002221  0.08190392] yaw=-172.0deg
-[05/10 18:00:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:00:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:00:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.7ms
-[05/10 18:00:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.445, 0.082)
-[05/10 18:00:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.6 deg
-[05/10 18:00:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
-[05/10 18:00:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:00:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:00:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:00:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:00:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 18:00:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.141s
-[05/10 18:00:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:00:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:00:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/10 18:00:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True
-[05/10 18:00:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 99.410[deg]
-[05/10 18:00:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:02:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:02:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:02:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps
-[05/10 18:02:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.825s, found feasible grasp: True
-[05/10 18:02:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.586[deg]
-[05/10 18:02:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:02:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 18:03:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
-[05/10 18:03:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.514s, found feasible grasp: True
-[05/10 18:03:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]
-[05/10 18:03:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:03:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 18:03:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.104s, found 80 non-colliding grasps
-[05/10 18:03:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 2.364s, found feasible grasp: True
-[05/10 18:03:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]
-[05/10 18:03:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:03:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 18:03:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
-[05/10 18:03:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.54s:
-  episode_total: mean=189.16s, total=189.16s, count=1, min=189159.6ms, max=189159.6ms
-  sensor_polling: mean=529.5ms, total=124.44s, count=235, min=449.9ms, max=930.2ms
-  physics_step: mean=25.0ms, total=5.88s, count=235, min=13.5ms, max=65.0ms
-  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  task_specific_sample: mean=531.3ms, total=531.3ms, count=1, min=531.3ms, max=531.3ms
-  scene_randomize: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
-  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:03:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:03:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:03:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/10 18:03:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:03:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:03:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018891m
-[05/10 18:03:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:03:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:03:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:03:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96193819  0.75879599  0.01889082] yaw=-159.7deg
-[05/10 18:03:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97096644  1.10611809  0.01889082] yaw=-129.3deg
-[05/10 18:03:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:03:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:03:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=363.7ms, total=363.8ms
-[05/10 18:03:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.759, 0.019)
-[05/10 18:03:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg
-[05/10 18:03:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m
-[05/10 18:03:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:03:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 18:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
-[05/10 18:03:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:03:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
-[05/10 18:03:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.449[deg]
-[05/10 18:03:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:04:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:04:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:06:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:06:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:06:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:06:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:07:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:07:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:07:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.73s (batch: 4.52s, save: 9.21s)
-[05/10 18:07:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.68s:
-  episode_total: mean=209.82s, total=209.82s, count=1, min=209824.5ms, max=209824.5ms
-  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=442.2ms, max=925.4ms
-  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9206.1ms, max=9206.1ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.3ms, max=69.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.0ms, max=4522.0ms
-  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
-  task_specific_sample: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=409.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:07:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:07:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 18:07:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:07:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:07:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050515m
-[05/10 18:07:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:07:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:07:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80634651  0.31020594  0.05051479] yaw=161.1deg
-[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65142662  0.39591575  0.05051479] yaw=186.2deg
-[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95051527  0.9652761   0.05051479] yaw=-137.9deg
-[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:07:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:07:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms
-[05/10 18:07:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.310, 0.051)
-[05/10 18:07:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg
-[05/10 18:07:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:07:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:07:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 18:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 18:07:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:07:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:07:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 18:07:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True
-[05/10 18:07:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.469[m] 91.125[deg]
-[05/10 18:07:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:10:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:10:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:10:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:10:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:10:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:10:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:10:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.21s, save: 8.79s)
-[05/10 18:10:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=219.33s, total=219.33s, count=1, min=219331.9ms, max=219331.9ms
-  sensor_polling: mean=519.6ms, total=155.88s, count=300, min=451.9ms, max=891.4ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8790.9ms, max=8790.9ms
-  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=89.1ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4209.5ms, max=4209.5ms
-  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
-  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:10:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:10:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:10:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 18:10:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:10:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:10:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082164m
-[05/10 18:10:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:10:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:10:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:10:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64766612  0.34329165  0.08216399] yaw=172.6deg
-[05/10 18:10:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:10:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:10:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms
-[05/10 18:10:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.343, 0.082)
-[05/10 18:10:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg
-[05/10 18:10:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.064m
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:10:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:10:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:10:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 18:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 18:10:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:10:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:10:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 18:10:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.659s, found feasible grasp: True
-[05/10 18:10:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.591[m] 85.656[deg]
-[05/10 18:10:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:12:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:12:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:13:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:14:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:14:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:14:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.47s (batch: 4.28s, save: 8.19s)
-[05/10 18:14:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
-  episode_total: mean=211.39s, total=211.39s, count=1, min=211393.5ms, max=211393.5ms
-  sensor_polling: mean=543.2ms, total=162.97s, count=300, min=439.1ms, max=1076.8ms
-  physics_step: mean=29.6ms, total=8.87s, count=300, min=15.8ms, max=140.7ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8189.8ms, max=8189.8ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
-  task_sampling: mean=523.1ms, total=523.1ms, count=1, min=523.1ms, max=523.1ms
-  task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=436.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 18:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059982m
-[05/10 18:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85145971  0.66191767  0.05998183] yaw=-164.6deg
-[05/10 18:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01775799  0.95797435  0.05998183] yaw=-150.8deg
-[05/10 18:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.2ms
-[05/10 18:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.662, 0.060)
-[05/10 18:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg
-[05/10 18:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.870m
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:14:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 18:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 18:14:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:14:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:14:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 18:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True
-[05/10 18:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.427[m] 82.003[deg]
-[05/10 18:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:15:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:15:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:15:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:17:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:17:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:17:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:17:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:17:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:17:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:17:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.56s (batch: 4.27s, save: 10.28s)
-[05/10 18:17:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
-  episode_total: mean=210.58s, total=210.58s, count=1, min=210579.4ms, max=210579.4ms
-  sensor_polling: mean=534.8ms, total=160.45s, count=300, min=436.5ms, max=927.5ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.3ms, max=10283.3ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=16.7ms, max=140.4ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.3ms, max=4274.3ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:17:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:17:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 18:17:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:17:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:17:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068430m
-[05/10 18:17:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:17:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:17:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94273959  1.22523127  0.06843   ] yaw=-141.3deg
-[05/10 18:17:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:17:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99422225  0.17772348  0.06843   ] yaw=148.4deg
-[05/10 18:17:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:17:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:17:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=163.2ms, total=163.2ms
-[05/10 18:17:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.225, 0.068)
-[05/10 18:17:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg
-[05/10 18:17:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.063m
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:17:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:17:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 18:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 18:17:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:17:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:17:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 18:18:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: True
-[05/10 18:18:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.654[m] 94.972[deg]
-[05/10 18:18:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:18:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:18:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:18:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 18:18:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:18:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:18:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038993m
-[05/10 18:18:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:18:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:18:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88463768  0.3593357   0.03899292] yaw=181.9deg
-[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8312515   0.39758058  0.03899292] yaw=178.5deg
-[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:18:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:18:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14670907  1.16207746  0.03899292] yaw=-124.2deg
-[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:18:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:18:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms
-[05/10 18:18:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.359, 0.039)
-[05/10 18:18:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg
-[05/10 18:18:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.827m
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:18:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:18:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:18:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 18:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.068s
-[05/10 18:18:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:18:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:18:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 18:18:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
-[05/10 18:18:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.418[m] 93.326[deg]
-[05/10 18:18:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:20:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:20:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:20:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/10 18:20:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.440s, found feasible grasp: True
-[05/10 18:20:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.456[deg]
-[05/10 18:20:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:21:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:21:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:21:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:21:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:21:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:21:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:21:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.88s (batch: 4.38s, save: 11.50s)
-[05/10 18:21:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.92s:
-  episode_total: mean=114.31s, total=228.63s, count=2, min=3729.9ms, max=224898.2ms
-  sensor_polling: mean=527.7ms, total=158.30s, count=300, min=452.5ms, max=899.0ms
-  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11499.6ms, max=11499.6ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.5ms, max=92.4ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.6ms, max=4384.6ms
-  task_sampling: mean=461.5ms, total=923.1ms, count=2, min=429.3ms, max=493.8ms
-  task_specific_sample: mean=457.2ms, total=914.4ms, count=2, min=425.5ms, max=488.9ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.3ms
-  mj_forward_sync: mean=611.5us, total=1.2ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:21:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:21:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
-[05/10 18:21:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:21:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:21:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075222m
-[05/10 18:21:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:21:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:21:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:21:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64104565  0.36985713  0.07522244] yaw=169.8deg
-[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73384642  0.92436935  0.07522244] yaw=-148.0deg
-[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99412053  0.84325952  0.07522244] yaw=-161.5deg
-[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:21:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:21:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.6ms
-[05/10 18:21:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.370, 0.075)
-[05/10 18:21:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
-[05/10 18:21:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:21:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:21:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:21:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 18:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.274s
-[05/10 18:21:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:21:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:21:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
-[05/10 18:21:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.308s, found feasible grasp: True
-[05/10 18:21:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.587[m] 86.633[deg]
-[05/10 18:21:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:23:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:24:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:25:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:25:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:25:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 4.34s, save: 12.13s)
-[05/10 18:25:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
-  episode_total: mean=227.57s, total=227.57s, count=1, min=227569.9ms, max=227569.9ms
-  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=447.2ms, max=912.4ms
-  save_trajectories: mean=12.13s, total=12.13s, count=1, min=12131.2ms, max=12131.2ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=18.9ms, max=85.0ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.2ms, max=4341.2ms
-  task_sampling: mean=543.4ms, total=543.4ms, count=1, min=543.4ms, max=543.4ms
-  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=550.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:25:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:25:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:25:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 18:25:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:25:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:25:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060104m
-[05/10 18:25:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:25:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:25:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:25:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18248766  1.04491582  0.06010427] yaw=-126.6deg
-[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09884392  1.12320773  0.06010427] yaw=-132.3deg
-[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84170569  0.6505663   0.06010427] yaw=-173.8deg
-[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:25:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:25:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.9ms
-[05/10 18:25:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.045, 0.060)
-[05/10 18:25:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg
-[05/10 18:25:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:25:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:25:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 18:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 18:25:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:25:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:25:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 18:25:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
-[05/10 18:25:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.307[m] 85.220[deg]
-[05/10 18:25:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:26:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:26:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:28:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:28:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:28:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
-[05/10 18:28:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.524s, found feasible grasp: True
-[05/10 18:28:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]
-[05/10 18:28:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:28:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:28:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:28:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 18:28:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:28:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:28:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039647m
-[05/10 18:28:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:28:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:28:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02016365  0.90423889  0.03964739] yaw=-155.0deg
-[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78144903  0.82750756  0.03964739] yaw=-168.7deg
-[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82113173  0.62159758  0.03964739] yaw=-174.8deg
-[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:28:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:28:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms
-[05/10 18:28:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.904, 0.040)
-[05/10 18:28:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg
-[05/10 18:28:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:28:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:28:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 18:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 18:28:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:28:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:28:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 18:28:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
-[05/10 18:28:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.190[deg]
-[05/10 18:28:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:31:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:31:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:31:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:31:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 18:31:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:31:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:31:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.06s (batch: 4.58s, save: 9.48s)
-[05/10 18:31:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=181.41s, total=362.83s, count=2, min=156899.0ms, max=205926.9ms
-  sensor_polling: mean=512.4ms, total=278.25s, count=543, min=431.9ms, max=1330.4ms
-  physics_step: mean=25.1ms, total=13.65s, count=543, min=14.3ms, max=74.6ms
-  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9480.3ms, max=9480.3ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.1ms, max=4581.1ms
-  task_sampling: mean=411.0ms, total=822.0ms, count=2, min=393.7ms, max=428.4ms
-  task_specific_sample: mean=407.0ms, total=814.1ms, count=2, min=389.7ms, max=424.3ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.6ms
-  mj_forward_sync: mean=429.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:31:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:31:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:31:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 18:31:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:31:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:31:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018289m
-[05/10 18:31:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:31:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:31:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72948014  0.29563262  0.01828905] yaw=173.0deg
-[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91788805  0.86952399  0.01828905] yaw=-157.9deg
-[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91773915  0.4636248   0.01828905] yaw=179.0deg
-[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:31:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:31:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.7ms
-[05/10 18:31:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.296, 0.018)
-[05/10 18:31:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg
-[05/10 18:31:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:31:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:31:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:31:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 18:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 18:31:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:31:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:31:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 18:31:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
-[05/10 18:31:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.505[m] 80.734[deg]
-[05/10 18:31:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:34:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:34:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:34:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:34:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:35:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:35:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:35:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.63s (batch: 3.83s, save: 8.80s)
-[05/10 18:35:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
-  episode_total: mean=205.44s, total=205.44s, count=1, min=205436.1ms, max=205436.1ms
-  sensor_polling: mean=498.1ms, total=149.42s, count=300, min=392.1ms, max=825.3ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8802.3ms, max=8802.3ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=15.2ms, max=93.1ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.7ms, max=3828.7ms
-  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
-  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=649.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:35:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:35:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:35:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 18:35:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:35:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:35:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077791m
-[05/10 18:35:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:35:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:35:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67987151  0.57744211  0.077791  ] yaw=-185.0deg
-[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06018167  1.07918455  0.077791  ] yaw=-146.3deg
-[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71930994  0.6029005   0.077791  ] yaw=-177.5deg
-[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:35:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:35:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms
-[05/10 18:35:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.577, 0.078)
-[05/10 18:35:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg
-[05/10 18:35:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:35:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:35:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:35:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 18:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.141s
-[05/10 18:35:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:35:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:35:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 18:35:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.627s, found feasible grasp: True
-[05/10 18:35:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.612[m] 98.253[deg]
-[05/10 18:35:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:35:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:35:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:36:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:36:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:36:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:36:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:36:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps
-[05/10 18:36:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 7.933s, found feasible grasp: True
-[05/10 18:36:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 4 (originally 4): w/ 0.281[m] 1.523[deg]
-[05/10 18:36:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:36:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:36:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:36:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:37:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 18:37:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:37:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:37:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 72 non-colliding grasps
-[05/10 18:37:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 72 grasps in 4.610s, found feasible grasp: True
-[05/10 18:37:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 105 (originally 105): w/ 0.171[m] 6.416[deg]
-[05/10 18:37:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:37:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:37:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:37:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 18:37:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:37:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:37:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068088m
-[05/10 18:37:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:37:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:37:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69885532  0.8514408   0.06808755] yaw=-159.5deg
-[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87694431  0.39150956  0.06808755] yaw=171.7deg
-[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83458224  0.99870275  0.06808755] yaw=-147.3deg
-[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:37:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:37:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.9ms
-[05/10 18:37:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.851, 0.068)
-[05/10 18:37:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg
-[05/10 18:37:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.069m
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:37:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:37:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:37:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 18:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 18:37:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:37:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:37:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 18:37:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.074s, found feasible grasp: True
-[05/10 18:37:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.624[m] 91.773[deg]
-[05/10 18:37:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:39:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:40:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:40:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:40:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:40:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.82s, save: 7.28s)
-[05/10 18:40:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.94s:
-  episode_total: mean=147.89s, total=295.77s, count=2, min=115395.4ms, max=180375.7ms
-  sensor_polling: mean=453.2ms, total=208.94s, count=461, min=380.8ms, max=858.2ms
-  physics_step: mean=20.6ms, total=9.48s, count=461, min=12.3ms, max=68.6ms
-  save_trajectories: mean=7.28s, total=7.28s, count=1, min=7278.4ms, max=7278.4ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3818.8ms, max=3818.8ms
-  task_sampling: mean=472.5ms, total=944.9ms, count=2, min=397.7ms, max=547.3ms
-  task_specific_sample: mean=468.5ms, total=936.9ms, count=2, min=394.0ms, max=542.9ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=3.0ms
-  mj_forward_sync: mean=549.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:40:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:40:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:40:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 18:40:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:40:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:40:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055230m
-[05/10 18:40:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:40:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:40:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98802913  0.77941833  0.05522998] yaw=-151.1deg
-[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84023759  0.32563108  0.05522998] yaw=162.2deg
-[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67306965  0.86819006  0.05522998] yaw=-153.6deg
-[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:40:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:40:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.2ms
-[05/10 18:40:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.779, 0.055)
-[05/10 18:40:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg
-[05/10 18:40:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:40:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:40:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:40:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 18:40:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:40:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:40:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:40:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True
-[05/10 18:40:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.369[m] 89.154[deg]
-[05/10 18:40:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:40:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:42:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:42:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:42:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:42:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
-[05/10 18:43:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:43:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:43:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.96s (batch: 3.85s, save: 8.11s)
-[05/10 18:43:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=170.90s, total=170.90s, count=1, min=170895.1ms, max=170895.1ms
-  sensor_polling: mean=427.3ms, total=126.04s, count=295, min=372.7ms, max=805.4ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.2ms, max=8110.2ms
-  physics_step: mean=20.4ms, total=6.03s, count=295, min=13.5ms, max=45.9ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.4ms, max=3850.4ms
-  task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  task_specific_sample: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:43:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:43:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:43:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/10 18:43:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:43:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:43:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036145m
-[05/10 18:43:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:43:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:43:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88305361  1.11725947  0.03614477] yaw=-136.0deg
-[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08304382  1.07871692  0.03614477] yaw=-145.1deg
-[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96054729  0.13942707  0.03614477] yaw=152.4deg
-[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:43:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:43:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms
-[05/10 18:43:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 1.117, 0.036)
-[05/10 18:43:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg
-[05/10 18:43:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
-[05/10 18:43:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:43:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:43:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:43:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:43:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:43:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 18:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 18:43:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:43:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:43:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:43:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.544s, found feasible grasp: True
-[05/10 18:43:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.596[m] 90.584[deg]
-[05/10 18:43:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:44:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:44:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:45:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
-[05/10 18:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.299s, found feasible grasp: True
-[05/10 18:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.622[deg]
-[05/10 18:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:45:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:45:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:45:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
-[05/10 18:45:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:46:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:46:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:46:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.79s, save: 7.31s)
-[05/10 18:46:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.27s, total=181.27s, count=1, min=181268.6ms, max=181268.6ms
-  sensor_polling: mean=421.2ms, total=126.37s, count=300, min=364.4ms, max=778.3ms
-  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7309.2ms, max=7309.2ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.6ms, max=62.3ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.1ms, max=3790.1ms
-  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
-  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=390.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:46:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:46:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:46:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
-[05/10 18:46:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:46:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:46:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016724m
-[05/10 18:46:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:46:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:46:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01105646  1.24629312  0.01672395] yaw=-123.5deg
-[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6744023   0.17334093  0.01672395] yaw=155.8deg
-[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0912006   0.95800413  0.01672395] yaw=-137.6deg
-[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:46:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:46:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.2ms, total=61.2ms
-[05/10 18:46:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.246, 0.017)
-[05/10 18:46:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg
-[05/10 18:46:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:46:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 18:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 18:46:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:46:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:46:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:46:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True
-[05/10 18:46:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.609[m] 90.362[deg]
-[05/10 18:46:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:47:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:47:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:47:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:47:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:47:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:47:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:47:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 86 non-colliding grasps
-[05/10 18:47:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 86 grasps in 1.326s, found feasible grasp: False
-[05/10 18:47:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 18:47:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:47:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:47:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/14 successful episodes
-[05/10 18:47:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5989.18s
-  House averages:
-  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
-  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
-  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
-  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
-  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
-  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
-  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:47:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 18:47:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5989.18s
-  Worker averages:
-  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
-  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
-  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
-  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
-  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
-  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
-  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
-  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
-  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
-  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
-  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
-  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
-  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
-  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
-  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:47:58 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 18:47:58 INFO pipeline.py:1491] Success count: 13, Total count: 14
-[05/10 18:47:58 INFO pipeline.py:1492] Success rate: 92.86%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
-==========================================
diff --git a/fridge_7/chunk_005/shard_3_of_4.log b/fridge_7/chunk_005/shard_3_of_4.log
deleted file mode 100644
index 8ecd80a3d45269550e845a7900ac1edaab9fa029..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_005/shard_3_of_4.log
+++ /dev/null
@@ -1,1681 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
-  shard=3/4  seed=20503  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 17:52:25 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c7784638ad0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20503,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 17:52:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 17:52:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 136852760889872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136852760889872 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 136852760889872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136852760889872 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 136852762820048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136852762820048 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136852762818192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136852762818192 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136852762818192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136852762818192 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136852762820048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136852762820048 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136852760937232 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136852760937232 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136852760948752 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136852760948752 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 136852760948752 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136852760948752 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136852760937232 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136852760937232 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 17:52:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f7256ec4040 at 0x7c7784bd1650>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f7256ef1be0 at 0x7c778481aad0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f7256ef1be0 at 0x7c7784b64350>
-[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044562m
-[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75061833  0.47104023  0.04456229] yaw=178.0deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79196793  0.90462043  0.04456229] yaw=-151.6deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=35.6ms, retries=417.5ms, total=453.1ms
-[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.471, 0.045)
-[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.952m
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 17:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.522s
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:53:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.728s, found feasible grasp: True
-[05/10 17:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.538[m] 101.375[deg]
-[05/10 17:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:55:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 17:56:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 17:56:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:56:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 17:56:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 4.37s, save: 12.04s)
-[05/10 17:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.87s:
-  episode_total: mean=253.79s, total=253.79s, count=1, min=253785.6ms, max=253785.6ms
-  sensor_polling: mean=528.0ms, total=158.39s, count=300, min=458.1ms, max=909.0ms
-  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12041.4ms, max=12041.4ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.8ms, max=69.8ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.9ms, max=4365.9ms
-  task_sampling: mean=3.87s, total=3.87s, count=1, min=3869.8ms, max=3869.8ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  task_specific_sample: mean=795.5ms, total=795.5ms, count=1, min=795.5ms, max=795.5ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=578.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=39.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 17:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081843m
-[05/10 17:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71870329  0.06497328  0.08184281] yaw=158.7deg
-[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01619692  1.05900576  0.08184281] yaw=-144.9deg
-[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83189719  0.82154528  0.08184281] yaw=-167.0deg
-[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms
-[05/10 17:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.065, 0.082)
-[05/10 17:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
-[05/10 17:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.068m
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:56:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 17:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s
-[05/10 17:56:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:56:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:56:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 17:56:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True
-[05/10 17:56:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.655[m] 89.741[deg]
-[05/10 17:56:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:56:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 17:56:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098587m
-[05/10 17:56:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67664378  0.11123131  0.09858703] yaw=151.2deg
-[05/10 17:56:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79853059  0.23105954  0.09858703] yaw=154.6deg
-[05/10 17:56:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:56:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms
-[05/10 17:56:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.111, 0.099)
-[05/10 17:56:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.2 deg
-[05/10 17:56:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.091m
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:56:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 17:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 17:56:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:56:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:56:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 17:56:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.746s, found feasible grasp: True
-[05/10 17:56:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.632[m] 87.794[deg]
-[05/10 17:56:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:56:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 17:56:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061943m
-[05/10 17:56:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01264304  0.82941253  0.06194339] yaw=-151.9deg
-[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.859553    0.40260025  0.06194339] yaw=170.0deg
-[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84360722  0.56367516  0.06194339] yaw=-181.0deg
-[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:56:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.4ms
-[05/10 17:56:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.829, 0.062)
-[05/10 17:56:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg
-[05/10 17:56:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:56:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 17:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 17:56:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:56:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:56:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 17:56:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 17:56:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 86.459[deg]
-[05/10 17:56:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:57:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:59:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:00:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:00:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:00:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
-[05/10 18:00:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:00:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:00:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.69s (batch: 4.47s, save: 10.22s)
-[05/10 18:00:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
-  episode_total: mean=70.70s, total=212.10s, count=3, min=3726.0ms, max=204327.6ms
-  sensor_polling: mean=525.5ms, total=151.87s, count=289, min=451.3ms, max=778.8ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10219.1ms, max=10219.1ms
-  physics_step: mean=25.1ms, total=7.26s, count=289, min=16.1ms, max=68.6ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.7ms, max=4471.7ms
-  task_sampling: mean=446.8ms, total=1.34s, count=3, min=430.8ms, max=455.3ms
-  task_specific_sample: mean=443.4ms, total=1.33s, count=3, min=428.2ms, max=451.1ms
-  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=469.1us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 18:00:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:00:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:00:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:00:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:00:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:00:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:00:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 18:00:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:00:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:00:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020791m
-[05/10 18:00:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:00:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:00:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:00:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87133104  0.90343635  0.02079084] yaw=-146.2deg
-[05/10 18:00:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:00:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92269707  0.66565586  0.02079084] yaw=-172.9deg
-[05/10 18:00:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:00:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:00:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9436341   0.42249769  0.02079084] yaw=171.4deg
-[05/10 18:00:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:00:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:00:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.5ms, total=101.5ms
-[05/10 18:00:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.903, 0.021)
-[05/10 18:00:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.2 deg
-[05/10 18:00:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
-[05/10 18:00:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:00:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:00:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:00:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:00:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:00:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 18:00:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 18:00:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:00:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:00:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 18:00:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 18:00:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 96.765[deg]
-[05/10 18:00:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:01:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:03:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:03:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:03:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:03:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:03:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:03:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:03:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.81s (batch: 4.82s, save: 9.99s)
-[05/10 18:03:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.34s, total=207.34s, count=1, min=207339.7ms, max=207339.7ms
-  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=441.3ms, max=852.2ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.6ms, max=9991.6ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=18.1ms, max=68.0ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4815.4ms, max=4815.4ms
-  task_sampling: mean=467.2ms, total=467.2ms, count=1, min=467.2ms, max=467.2ms
-  task_specific_sample: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=646.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:03:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:03:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:03:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:03:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/10 18:03:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:03:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:03:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075855m
-[05/10 18:03:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:03:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:03:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95667409  0.25810516  0.07585462] yaw=156.0deg
-[05/10 18:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75685142  0.65980208  0.07585462] yaw=-167.3deg
-[05/10 18:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:03:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:03:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.0ms
-[05/10 18:03:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.258, 0.076)
-[05/10 18:03:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg
-[05/10 18:03:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
-[05/10 18:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:03:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 18:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.116s
-[05/10 18:03:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 18:03:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True
-[05/10 18:03:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.376[m] 104.127[deg]
-[05/10 18:03:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:04:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:05:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:05:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:05:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:05:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:05:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 18:05:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.503s, found feasible grasp: True
-[05/10 18:05:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.538[deg]
-[05/10 18:05:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:05:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:05:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:05:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 18:05:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:05:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:05:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054508m
-[05/10 18:05:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:05:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:05:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02975878  1.15674543  0.05450836] yaw=-140.8deg
-[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80355663  0.68283201  0.05450836] yaw=-177.0deg
-[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8674806   0.57773193  0.05450836] yaw=-168.2deg
-[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:05:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:05:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.6ms
-[05/10 18:05:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.030, 1.157, 0.055)
-[05/10 18:05:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg
-[05/10 18:05:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:05:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:05:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:05:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 18:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 18:05:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:05:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:05:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:05:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True
-[05/10 18:05:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.510[m] 85.708[deg]
-[05/10 18:05:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:05:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:05:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:05:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 18:05:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:05:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:05:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034262m
-[05/10 18:05:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:05:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:05:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62427414  0.36980578  0.03426181] yaw=175.7deg
-[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:05:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:05:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78898383  1.07154827  0.03426181] yaw=-146.9deg
-[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85054235  0.21425112  0.03426181] yaw=167.7deg
-[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:05:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:05:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.7ms, total=240.7ms
-[05/10 18:05:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.370, 0.034)
-[05/10 18:05:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg
-[05/10 18:05:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:05:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:05:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:05:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 18:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 18:05:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:05:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:05:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 18:05:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True
-[05/10 18:05:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.668[m] 100.006[deg]
-[05/10 18:05:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:08:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:08:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:08:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:08:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:09:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:09:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:09:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 5.36s, save: 11.05s)
-[05/10 18:09:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.54s:
-  episode_total: mean=107.36s, total=322.08s, count=3, min=2846.3ms, max=209344.5ms
-  sensor_polling: mean=507.0ms, total=238.81s, count=471, min=439.9ms, max=889.2ms
-  physics_step: mean=25.8ms, total=12.13s, count=471, min=16.2ms, max=89.4ms
-  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.4ms, max=11046.4ms
-  save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5362.1ms, max=5362.1ms
-  task_sampling: mean=513.5ms, total=1.54s, count=3, min=426.5ms, max=572.3ms
-  task_specific_sample: mean=510.0ms, total=1.53s, count=3, min=423.3ms, max=568.6ms
-  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=422.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 18:09:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:09:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:09:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 18:09:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:09:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:09:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039203m
-[05/10 18:09:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:09:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:09:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85255681  0.8583814   0.03920265] yaw=-152.1deg
-[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:09:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:09:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94283526  0.52132514  0.03920265] yaw=-177.9deg
-[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79717038  0.65299914  0.03920265] yaw=-164.1deg
-[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:09:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:09:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms
-[05/10 18:09:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.858, 0.039)
-[05/10 18:09:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
-[05/10 18:09:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:09:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:09:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:09:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 18:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 18:09:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:09:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:09:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 18:09:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True
-[05/10 18:09:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 89.534[deg]
-[05/10 18:09:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:12:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:12:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:12:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:12:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:12:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:12:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:12:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.33s (batch: 4.54s, save: 9.78s)
-[05/10 18:12:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
-  episode_total: mean=211.47s, total=211.47s, count=1, min=211470.2ms, max=211470.2ms
-  sensor_polling: mean=518.2ms, total=155.45s, count=300, min=447.5ms, max=953.7ms
-  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.4ms, max=9784.4ms
-  physics_step: mean=24.1ms, total=7.24s, count=300, min=18.4ms, max=47.7ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4544.6ms, max=4544.6ms
-  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
-  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:12:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:12:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:12:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:12:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:12:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:12:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:12:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 18:12:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:12:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:12:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054997m
-[05/10 18:12:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:12:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:12:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:12:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:12:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9716756   0.99335929  0.05499689] yaw=-149.5deg
-[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70604843  0.38125246  0.05499689] yaw=164.7deg
-[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95207794  0.56246207  0.05499689] yaw=-166.9deg
-[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:12:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:12:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.9ms, total=415.9ms
-[05/10 18:12:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.993, 0.055)
-[05/10 18:12:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg
-[05/10 18:12:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/10 18:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:12:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 18:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
-[05/10 18:12:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:12:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:12:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
-[05/10 18:12:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True
-[05/10 18:12:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.484[m] 91.929[deg]
-[05/10 18:12:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:13:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:13:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:15:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:16:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:16:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:16:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.91s (batch: 4.29s, save: 12.62s)
-[05/10 18:16:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
-  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.7ms, max=213981.7ms
-  sensor_polling: mean=519.7ms, total=155.90s, count=300, min=444.6ms, max=942.3ms
-  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12617.2ms, max=12617.2ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.6ms, max=132.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.4ms, max=4293.4ms
-  task_sampling: mean=742.2ms, total=742.2ms, count=1, min=742.2ms, max=742.2ms
-  task_specific_sample: mean=737.7ms, total=737.7ms, count=1, min=737.7ms, max=737.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:16:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:16:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:16:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 18:16:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:16:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:16:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073673m
-[05/10 18:16:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:16:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:16:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65207323  0.27360683  0.07367289] yaw=164.5deg
-[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93291151  0.95310248  0.07367289] yaw=-153.7deg
-[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64378631  0.25175625  0.07367289] yaw=178.5deg
-[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:16:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:16:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=155.8ms, total=155.8ms
-[05/10 18:16:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.274, 0.074)
-[05/10 18:16:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.5 deg
-[05/10 18:16:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:16:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 18:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 18:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:16:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 18:16:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True
-[05/10 18:16:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.633[m] 93.970[deg]
-[05/10 18:16:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:18:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:18:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:18:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:18:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps
-[05/10 18:18:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.145s, found feasible grasp: True
-[05/10 18:18:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.322[deg]
-[05/10 18:18:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 18:19:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:19:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:19:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/10 18:19:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.675s, found feasible grasp: True
-[05/10 18:19:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.863[deg]
-[05/10 18:19:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 18:19:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:19:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:19:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps
-[05/10 18:19:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.818s, found feasible grasp: True
-[05/10 18:19:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.415[deg]
-[05/10 18:19:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:19:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False
-[05/10 18:19:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.58s:
-  episode_total: mean=216.24s, total=216.24s, count=1, min=216236.3ms, max=216236.3ms
-  sensor_polling: mean=528.0ms, total=158.41s, count=300, min=449.5ms, max=1013.4ms
-  physics_step: mean=24.8ms, total=7.44s, count=300, min=15.3ms, max=91.5ms
-  task_sampling: mean=583.0ms, total=583.0ms, count=1, min=583.0ms, max=583.0ms
-  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=643.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:20:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:20:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:20:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 18:20:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:20:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:20:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077890m
-[05/10 18:20:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:20:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:20:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:20:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93791047  1.03131512  0.07789031] yaw=-135.4deg
-[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70608097  0.5469937   0.07789031] yaw=-172.4deg
-[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:20:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62843384  0.46386394  0.07789031] yaw=187.1deg
-[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:20:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:20:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms
-[05/10 18:20:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.031, 0.078)
-[05/10 18:20:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg
-[05/10 18:20:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:20:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:20:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:20:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 18:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 18:20:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:20:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:20:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 18:20:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.764s, found feasible grasp: True
-[05/10 18:20:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.243[deg]
-[05/10 18:20:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:22:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:23:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:23:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:23:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:23:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:23:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:23:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.84s (batch: 4.52s, save: 11.31s)
-[05/10 18:23:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.68s, total=212.68s, count=1, min=212682.4ms, max=212682.4ms
-  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=434.2ms, max=1001.7ms
-  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.4ms, max=11314.4ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.7ms, max=91.2ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.7ms, max=4524.7ms
-  task_sampling: mean=449.8ms, total=449.8ms, count=1, min=449.8ms, max=449.8ms
-  task_specific_sample: mean=446.1ms, total=446.1ms, count=1, min=446.1ms, max=446.1ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:23:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:23:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:23:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 18:23:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:23:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:23:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096006m
-[05/10 18:23:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:23:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:23:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82558658  1.01707047  0.0960055 ] yaw=-144.3deg
-[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68222768  0.25559594  0.0960055 ] yaw=169.3deg
-[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91870825  0.32265661  0.0960055 ] yaw=161.7deg
-[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:23:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:23:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms
-[05/10 18:23:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.826, 1.017, 0.096)
-[05/10 18:23:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg
-[05/10 18:23:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:23:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:23:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 18:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 18:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:23:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True
-[05/10 18:23:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.571[m] 82.236[deg]
-[05/10 18:23:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:26:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:26:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:26:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:27:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:27:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:27:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.06s (batch: 4.32s, save: 8.74s)
-[05/10 18:27:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.89s, total=208.89s, count=1, min=208894.6ms, max=208894.6ms
-  sensor_polling: mean=514.2ms, total=154.27s, count=300, min=441.5ms, max=873.2ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8738.9ms, max=8738.9ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.8ms, max=72.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.3ms, max=4322.3ms
-  task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms
-  task_specific_sample: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=419.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:27:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:27:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/10 18:27:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:27:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:27:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075829m
-[05/10 18:27:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:27:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:27:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02618609  1.19906698  0.07582945] yaw=-141.3deg
-[05/10 18:27:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:27:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74269091  0.1592268   0.07582945] yaw=155.6deg
-[05/10 18:27:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:27:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:27:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.6ms
-[05/10 18:27:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.199, 0.076)
-[05/10 18:27:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg
-[05/10 18:27:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.986m
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:27:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 18:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 18:27:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:27:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:27:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:27:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True
-[05/10 18:27:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.574[m] 86.801[deg]
-[05/10 18:27:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:27:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:27:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 18:27:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:27:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:27:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024870m
-[05/10 18:27:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:27:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:27:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83286312  0.18988912  0.02486981] yaw=164.8deg
-[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88542476  0.93948386  0.02486981] yaw=-155.2deg
-[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95863129  1.18170033  0.02486981] yaw=-125.9deg
-[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:27:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:27:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms
-[05/10 18:27:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.190, 0.025)
-[05/10 18:27:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg
-[05/10 18:27:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:27:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 18:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 18:27:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:27:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:27:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 18:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True
-[05/10 18:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.443[m] 86.661[deg]
-[05/10 18:27:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:29:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:29:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:29:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.419s, found feasible grasp: True
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.802[deg]
-[05/10 18:29:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:30:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:30:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:30:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:30:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:30:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:30:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:30:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.28s (batch: 4.26s, save: 10.01s)
-[05/10 18:30:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
-  episode_total: mean=114.75s, total=229.49s, count=2, min=3081.0ms, max=226413.7ms
-  sensor_polling: mean=521.1ms, total=156.33s, count=300, min=444.4ms, max=1305.6ms
-  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10013.7ms, max=10013.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=14.1ms, max=122.5ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.4ms, max=4261.4ms
-  task_sampling: mean=425.4ms, total=850.7ms, count=2, min=362.2ms, max=488.6ms
-  task_specific_sample: mean=422.0ms, total=844.1ms, count=2, min=359.2ms, max=484.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=404.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:30:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:30:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:30:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 18:30:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:30:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:30:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000533m
-[05/10 18:30:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:30:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:30:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.32542992e-01  3.56547225e-01  5.32749062e-04] yaw=183.6deg
-[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:30:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:30:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.20997937e-01  7.33108986e-01  5.32749062e-04] yaw=-170.1deg
-[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.61931662e-01  1.01785357e+00  5.32749062e-04] yaw=-153.6deg
-[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:30:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:30:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms
-[05/10 18:30:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.357, 0.001)
-[05/10 18:30:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg
-[05/10 18:30:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:30:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:30:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:30:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
-[05/10 18:30:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:30:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:30:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 18:31:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True
-[05/10 18:31:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.634[m] 85.206[deg]
-[05/10 18:31:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:32:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:33:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:34:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:34:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:34:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:34:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:34:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:34:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.92s (batch: 3.66s, save: 9.27s)
-[05/10 18:34:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s:
-  episode_total: mean=199.93s, total=199.93s, count=1, min=199925.1ms, max=199925.1ms
-  sensor_polling: mean=511.6ms, total=153.49s, count=300, min=427.8ms, max=1108.8ms
-  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9267.1ms, max=9267.1ms
-  physics_step: mean=25.0ms, total=7.51s, count=300, min=16.4ms, max=94.3ms
-  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3656.5ms, max=3656.5ms
-  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
-  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=604.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:34:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:34:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:34:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:34:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:34:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:34:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
-[05/10 18:34:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:34:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:34:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043458m
-[05/10 18:34:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:34:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:34:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:34:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83839389  0.81468619  0.04345839] yaw=-154.4deg
-[05/10 18:34:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:34:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6119678   0.3831289   0.04345839] yaw=180.2deg
-[05/10 18:34:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:34:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11991333  1.20904951  0.04345839] yaw=-136.4deg
-[05/10 18:34:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:34:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:34:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.1ms
-[05/10 18:34:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.815, 0.043)
-[05/10 18:34:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg
-[05/10 18:34:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
-[05/10 18:34:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:34:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:34:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:34:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:34:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:34:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 18:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
-[05/10 18:34:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:34:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:34:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 18:34:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
-[05/10 18:34:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.513[m] 96.432[deg]
-[05/10 18:34:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:36:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:37:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:37:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:37:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:37:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:37:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:37:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.72s (batch: 4.59s, save: 8.13s)
-[05/10 18:37:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
-  episode_total: mean=182.80s, total=182.80s, count=1, min=182803.3ms, max=182803.3ms
-  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=394.6ms, max=890.3ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8126.2ms, max=8126.2ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.5ms, max=35.0ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.3ms, max=4589.3ms
-  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
-  task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=371.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:37:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:37:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:37:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 18:37:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:37:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:37:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030480m
-[05/10 18:37:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:37:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:37:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9958913   0.82098141  0.03048011] yaw=-156.4deg
-[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9057847   0.12020668  0.03048011] yaw=153.7deg
-[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86502394  1.17221916  0.03048011] yaw=-134.6deg
-[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:37:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:37:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.8ms
-[05/10 18:37:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.821, 0.030)
-[05/10 18:37:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg
-[05/10 18:37:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:37:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:37:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 18:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 18:37:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:37:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:37:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:37:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/10 18:37:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.323[m] 83.166[deg]
-[05/10 18:37:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:37:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:39:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:40:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
-[05/10 18:40:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
-[05/10 18:40:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:40:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 10.53s (batch: 3.75s, save: 6.78s)
-[05/10 18:40:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=171.88s, total=171.88s, count=1, min=171883.7ms, max=171883.7ms
-  sensor_polling: mean=461.6ms, total=131.57s, count=285, min=386.5ms, max=861.9ms
-  save_trajectories: mean=6.78s, total=6.78s, count=1, min=6779.0ms, max=6779.0ms
-  physics_step: mean=21.6ms, total=6.14s, count=285, min=15.0ms, max=68.3ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.6ms, max=3750.6ms
-  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
-  task_specific_sample: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:40:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:40:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:40:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/10 18:40:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5205.25s
-  House averages:
-  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
-  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
-  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
-  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
-  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
-  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
-  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:40:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 18:40:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5205.25s
-  Worker averages:
-  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
-  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
-  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
-  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
-  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
-  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
-  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
-  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
-  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
-  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
-  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
-  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
-  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
-  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
-  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
-  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
-  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:40:21 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 18:40:21 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/10 18:40:21 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
-==========================================
diff --git a/fridge_7/chunk_005/shard_4_of_4.log b/fridge_7/chunk_005/shard_4_of_4.log
deleted file mode 100644
index e10f353ad38e90d32587a6eb144d60a9c904a139..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_005/shard_4_of_4.log
+++ /dev/null
@@ -1,1785 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
-  shard=4/4  seed=20504  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 17:52:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 17:52:25 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 17:52:25 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b86a78c3d50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20504,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 17:52:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 17:52:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 135818265063568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135818265063568 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 135818265063568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135818265063568 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 135818265770576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135818265770576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135818265770768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135818265770768 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135818265770768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135818265770768 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135818265770576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135818265770576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135818265093456 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135818265093456 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135818265098576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135818265098576 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 135818265098576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135818265098576 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135818265093456 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135818265093456 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 17:52:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 64a5145f1c10 at 0x7b86a7e0a790>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 64a5145f3380 at 0x7b86a7e19c90>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 64a5145f3380 at 0x7b86a7da0a90>
-[05/10 17:52:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084719m
-[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69757086  0.84132334  0.08471936] yaw=-162.0deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6607921   0.65728391  0.08471936] yaw=-165.8deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91750275  0.98954903  0.08471936] yaw=-157.5deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=23.7ms, retries=410.9ms, total=434.6ms
-[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.841, 0.085)
-[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
-[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:52:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 17:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 34.820s
-[05/10 17:53:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:53:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:53:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 17:53:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.639s, found feasible grasp: True
-[05/10 17:53:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 87.650[deg]
-[05/10 17:53:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:55:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 17:56:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 17:56:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 17:56:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 17:56:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 17:56:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.90s (batch: 3.88s, save: 10.02s)
-[05/10 17:56:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s:
-  episode_total: mean=247.71s, total=247.71s, count=1, min=247713.5ms, max=247713.5ms
-  sensor_polling: mean=516.1ms, total=154.82s, count=300, min=450.4ms, max=914.6ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10021.2ms, max=10021.2ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=18.8ms, max=49.9ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.4ms, max=3880.4ms
-  task_sampling: mean=3.86s, total=3.86s, count=1, min=3860.2ms, max=3860.2ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  task_specific_sample: mean=728.9ms, total=728.9ms, count=1, min=728.9ms, max=728.9ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=635.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 17:56:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:56:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 17:56:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:56:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:56:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028489m
-[05/10 17:56:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:56:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:56:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:56:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09827936  1.0376499   0.02848927] yaw=-148.2deg
-[05/10 17:56:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:56:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:56:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.0ms, total=336.1ms
-[05/10 17:56:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.098, 1.038, 0.028)
-[05/10 17:56:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
-[05/10 17:56:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:56:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:56:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:56:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 17:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/10 17:56:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:56:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:56:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 17:56:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.372s, found feasible grasp: True
-[05/10 17:56:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 86.607[deg]
-[05/10 17:56:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 17:57:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 17:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 17:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 17:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 17:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 17:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 17:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 17:59:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 17:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 17:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 17:59:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:59:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 17:59:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.720s, found feasible grasp: True
-[05/10 17:59:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.324[deg]
-[05/10 17:59:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 17:59:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 17:59:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 17:59:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:59:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:59:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:59:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/10 17:59:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 17:59:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 17:59:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028643m
-[05/10 17:59:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 17:59:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 17:59:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 17:59:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76701776  0.41372654  0.028643  ] yaw=186.3deg
-[05/10 17:59:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 17:59:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 17:59:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.891129   0.6409341  0.028643 ] yaw=-158.8deg
-[05/10 17:59:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 17:59:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64280559  0.68524938  0.028643  ] yaw=-175.0deg
-[05/10 17:59:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 17:59:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 17:59:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=344.3ms, total=344.4ms
-[05/10 17:59:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.414, 0.029)
-[05/10 17:59:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.3 deg
-[05/10 17:59:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
-[05/10 17:59:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 17:59:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 17:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 17:59:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 17:59:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 17:59:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 17:59:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 17:59:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 17:59:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 17:59:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps
-[05/10 17:59:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.224s, found feasible grasp: True
-[05/10 17:59:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.468[deg]
-[05/10 17:59:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 17:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 17:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:00:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:00:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:02:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:02:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:02:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:02:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:03:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:03:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:03:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 5.39s, save: 11.09s)
-[05/10 18:03:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.29s:
-  episode_total: mean=193.13s, total=386.26s, count=2, min=163469.5ms, max=222792.6ms
-  sensor_polling: mean=522.9ms, total=295.41s, count=565, min=442.0ms, max=874.0ms
-  physics_step: mean=25.0ms, total=14.11s, count=565, min=18.3ms, max=69.0ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11088.0ms, max=11088.0ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5385.2ms, max=5385.2ms
-  task_sampling: mean=645.0ms, total=1.29s, count=2, min=620.9ms, max=669.0ms
-  task_specific_sample: mean=639.3ms, total=1.28s, count=2, min=613.8ms, max=664.7ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.9ms
-  mj_forward_sync: mean=585.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:03:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:03:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/10 18:03:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:03:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:03:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057254m
-[05/10 18:03:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:03:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:03:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72877017  0.27050068  0.05725375] yaw=165.4deg
-[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05283478  1.24566073  0.05725375] yaw=-136.9deg
-[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74012062  0.08893425  0.05725375] yaw=146.8deg
-[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:03:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:03:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.5ms
-[05/10 18:03:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.271, 0.057)
-[05/10 18:03:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
-[05/10 18:03:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:03:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:03:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 18:03:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
-[05/10 18:03:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:03:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:03:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 18:03:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True
-[05/10 18:03:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.565[m] 97.098[deg]
-[05/10 18:03:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:05:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:06:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:06:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:06:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:06:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:06:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:06:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.51s (batch: 4.45s, save: 11.06s)
-[05/10 18:06:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.98s, total=208.98s, count=1, min=208979.4ms, max=208979.4ms
-  sensor_polling: mean=516.0ms, total=154.79s, count=300, min=442.4ms, max=1019.5ms
-  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11061.9ms, max=11061.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.4ms, max=64.1ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.2ms, max=4452.2ms
-  task_sampling: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
-  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=693.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=34.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:06:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:06:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:06:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 18:06:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:06:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:06:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030489m
-[05/10 18:06:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:06:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:06:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90575212  0.15871317  0.03048856] yaw=157.2deg
-[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01316688  1.06821953  0.03048856] yaw=-136.7deg
-[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67068777  0.13113667  0.03048856] yaw=171.2deg
-[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:06:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:06:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=470.9ms, total=470.9ms
-[05/10 18:06:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.159, 0.030)
-[05/10 18:06:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg
-[05/10 18:06:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.860m
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:06:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 18:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 18:06:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:06:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:06:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 18:06:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.004s, found feasible grasp: True
-[05/10 18:06:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.400[m] 84.405[deg]
-[05/10 18:06:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:07:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:08:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:08:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:08:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:08:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps
-[05/10 18:08:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.820s, found feasible grasp: True
-[05/10 18:08:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]
-[05/10 18:09:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:09:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:09:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:09:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 18:09:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:09:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:09:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034666m
-[05/10 18:09:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:09:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:09:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80761355  0.47246581  0.03466565] yaw=181.6deg
-[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83226153  1.0895517   0.03466565] yaw=-142.9deg
-[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78994328  0.09712097  0.03466565] yaw=148.5deg
-[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:09:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:09:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.1ms, total=277.1ms
-[05/10 18:09:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.472, 0.035)
-[05/10 18:09:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg
-[05/10 18:09:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:09:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:09:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:09:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 18:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 18:09:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:09:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:09:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.207s, found 88 non-colliding grasps
-[05/10 18:09:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.227s, found feasible grasp: True
-[05/10 18:09:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.482[m] 97.544[deg]
-[05/10 18:09:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:09:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:11:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:12:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:12:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:12:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:12:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:12:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:12:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.45s (batch: 4.66s, save: 8.80s)
-[05/10 18:12:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.40s:
-  episode_total: mean=179.86s, total=359.71s, count=2, min=143960.8ms, max=215749.7ms
-  sensor_polling: mean=521.7ms, total=270.26s, count=518, min=440.5ms, max=880.3ms
-  physics_step: mean=24.7ms, total=12.80s, count=518, min=15.2ms, max=63.6ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8795.7ms, max=8795.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4655.7ms, max=4655.7ms
-  task_sampling: mean=697.8ms, total=1.40s, count=2, min=547.2ms, max=848.4ms
-  task_specific_sample: mean=692.7ms, total=1.39s, count=2, min=542.0ms, max=843.5ms
-  scene_randomize: mean=3.1ms, total=6.2ms, count=2, min=2.8ms, max=3.3ms
-  mj_forward_sync: mean=592.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=25.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:12:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:12:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:12:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 18:12:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:12:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:12:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024505m
-[05/10 18:12:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:12:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:12:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7267935   0.28411293  0.02450487] yaw=179.3deg
-[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89600936  0.76819328  0.02450487] yaw=-165.2deg
-[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87356914  0.74749812  0.02450487] yaw=-154.1deg
-[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:12:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:12:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.7ms, total=139.8ms
-[05/10 18:12:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.284, 0.025)
-[05/10 18:12:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.3 deg
-[05/10 18:12:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.995m
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:12:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:12:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 18:12:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 18:12:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:12:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:12:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 18:12:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True
-[05/10 18:12:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.571[m] 95.089[deg]
-[05/10 18:12:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:15:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:15:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:15:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:15:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:16:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:16:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:16:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.52s (batch: 4.38s, save: 9.13s)
-[05/10 18:16:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
-  episode_total: mean=211.03s, total=211.03s, count=1, min=211027.8ms, max=211027.8ms
-  sensor_polling: mean=521.6ms, total=156.49s, count=300, min=457.6ms, max=1114.7ms
-  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9133.9ms, max=9133.9ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.7ms, max=134.6ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.6ms, max=4382.6ms
-  task_sampling: mean=429.8ms, total=429.8ms, count=1, min=429.8ms, max=429.8ms
-  task_specific_sample: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:16:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:16:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:16:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 18:16:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:16:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:16:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097343m
-[05/10 18:16:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:16:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:16:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75896834  0.41220909  0.09734325] yaw=174.1deg
-[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10478383  1.21847726  0.09734325] yaw=-129.0deg
-[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73900635  0.06496733  0.09734325] yaw=159.6deg
-[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:16:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:16:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.4ms, total=423.4ms
-[05/10 18:16:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.412, 0.097)
-[05/10 18:16:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg
-[05/10 18:16:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:16:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:16:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 18:16:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.117s
-[05/10 18:16:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:16:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:16:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 18:16:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.564s, found feasible grasp: True
-[05/10 18:16:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.486[m] 87.590[deg]
-[05/10 18:16:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:17:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:18:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:18:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:18:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:19:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:19:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:19:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps
-[05/10 18:19:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.965s, found feasible grasp: True
-[05/10 18:19:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.379[deg]
-[05/10 18:19:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:19:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:19:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:19:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:19:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:19:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:19:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:19:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.33s (batch: 4.39s, save: 8.94s)
-[05/10 18:20:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
-  episode_total: mean=227.35s, total=227.35s, count=1, min=227349.5ms, max=227349.5ms
-  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=451.3ms, max=1082.6ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8938.2ms, max=8938.2ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.6ms, max=76.9ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.6ms, max=4388.6ms
-  task_sampling: mean=750.2ms, total=750.2ms, count=1, min=750.2ms, max=750.2ms
-  task_specific_sample: mean=740.0ms, total=740.0ms, count=1, min=740.0ms, max=740.0ms
-  scene_randomize: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=651.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:20:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:20:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:20:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 18:20:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:20:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:20:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051252m
-[05/10 18:20:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:20:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:20:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73656483  0.07149442  0.05125223] yaw=151.1deg
-[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09707554  1.12186884  0.05125223] yaw=-124.9deg
-[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:20:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:20:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88308184  0.28698147  0.05125223] yaw=156.2deg
-[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:20:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:20:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.3ms, total=113.4ms
-[05/10 18:20:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.071, 0.051)
-[05/10 18:20:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.1 deg
-[05/10 18:20:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:20:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:20:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 18:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 18:20:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:20:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:20:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 18:20:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True
-[05/10 18:20:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.627[m] 96.400[deg]
-[05/10 18:20:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:21:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:21:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:22:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:22:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:23:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:23:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:23:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
-[05/10 18:23:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True
-[05/10 18:23:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.311[deg]
-[05/10 18:23:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:23:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:23:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:23:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:23:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:23:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:23:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:23:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:23:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.11s (batch: 4.28s, save: 8.83s)
-[05/10 18:23:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
-  episode_total: mean=226.97s, total=226.97s, count=1, min=226966.2ms, max=226966.2ms
-  sensor_polling: mean=527.0ms, total=158.09s, count=300, min=449.0ms, max=1155.7ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8828.1ms, max=8828.1ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=14.7ms, max=100.5ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.6ms, max=4283.6ms
-  task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
-  task_specific_sample: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=608.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:23:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:23:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:23:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/10 18:23:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:23:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:23:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003716m
-[05/10 18:23:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:23:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:23:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70310945  0.86830829  0.00371572] yaw=-153.1deg
-[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94609299  0.9226251   0.00371572] yaw=-139.5deg
-[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93739037  1.15726232  0.00371572] yaw=-129.8deg
-[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:23:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:23:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.6ms, total=152.7ms
-[05/10 18:23:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.868, 0.004)
-[05/10 18:23:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg
-[05/10 18:23:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:23:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:23:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:23:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 18:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 18:23:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:23:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:23:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 18:23:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.600s, found feasible grasp: True
-[05/10 18:23:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.691[m] 98.743[deg]
-[05/10 18:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:25:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:26:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:27:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:27:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:27:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:27:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:27:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:27:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.51s (batch: 4.07s, save: 9.44s)
-[05/10 18:27:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s:
-  episode_total: mean=203.46s, total=203.46s, count=1, min=203464.1ms, max=203464.1ms
-  sensor_polling: mean=516.7ms, total=155.01s, count=300, min=440.4ms, max=823.1ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9442.8ms, max=9442.8ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=16.2ms, max=69.1ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.7ms, max=4071.7ms
-  task_sampling: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
-  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=448.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:27:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:27:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:27:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/10 18:27:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:27:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:27:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088182m
-[05/10 18:27:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:27:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:27:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79328662  0.31637843  0.08818196] yaw=175.8deg
-[05/10 18:27:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:27:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87625644  1.01621028  0.08818196] yaw=-137.4deg
-[05/10 18:27:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:27:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98497724  0.96067277  0.08818196] yaw=-135.5deg
-[05/10 18:27:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:27:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:27:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms
-[05/10 18:27:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.316, 0.088)
-[05/10 18:27:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg
-[05/10 18:27:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
-[05/10 18:27:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:27:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:27:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:27:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:27:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 18:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 18:27:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:27:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:27:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 18:27:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True
-[05/10 18:27:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.084[deg]
-[05/10 18:27:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:28:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:29:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:29:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True
-[05/10 18:29:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.636[deg]
-[05/10 18:29:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 18:29:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:29:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:29:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 18:29:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.365s, found feasible grasp: True
-[05/10 18:29:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.614[deg]
-[05/10 18:29:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:30:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:30:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:30:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:30:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:30:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:30:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:30:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.18s, save: 9.43s)
-[05/10 18:30:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=219.50s, total=219.50s, count=1, min=219503.2ms, max=219503.2ms
-  sensor_polling: mean=523.6ms, total=157.09s, count=300, min=447.1ms, max=1200.9ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.3ms, max=9431.3ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=106.4ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.0ms, max=4180.0ms
-  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:30:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:30:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:30:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 18:30:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:30:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:30:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000017m
-[05/10 18:30:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:30:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:30:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11444047e+00  1.11622486e+00  1.74444103e-05] yaw=-136.3deg
-[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.93833133e-01  1.14634233e+00  1.74444103e-05] yaw=-136.7deg
-[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.88718312e-01  1.01129296e+00  1.74444103e-05] yaw=-160.6deg
-[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:30:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:30:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.6ms
-[05/10 18:30:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.114, 1.116, 0.000)
-[05/10 18:30:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg
-[05/10 18:30:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:30:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:30:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:30:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 18:30:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 18:30:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:30:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:30:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 18:30:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True
-[05/10 18:30:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.044[deg]
-[05/10 18:30:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:31:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:33:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:33:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:33:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:33:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:33:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:33:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 18:33:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.489s, found feasible grasp: True
-[05/10 18:33:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.309[deg]
-[05/10 18:33:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:33:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:33:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:33:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:33:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:33:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:33:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:33:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 18:33:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:33:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:33:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058718m
-[05/10 18:33:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:33:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:33:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:33:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75316236  0.09261206  0.05871826] yaw=167.0deg
-[05/10 18:33:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:33:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90305874  1.0527639   0.05871826] yaw=-134.5deg
-[05/10 18:33:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:33:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:33:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=170.0ms
-[05/10 18:33:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.093, 0.059)
-[05/10 18:33:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg
-[05/10 18:33:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
-[05/10 18:33:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:33:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:33:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:33:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:33:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 18:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 18:33:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:33:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:33:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:33:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True
-[05/10 18:33:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.539[m] 81.544[deg]
-[05/10 18:33:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:34:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:36:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:36:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:36:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:36:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:36:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:36:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:36:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.74s (batch: 4.06s, save: 7.68s)
-[05/10 18:36:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.16s:
-  episode_total: mean=174.17s, total=348.34s, count=2, min=158065.1ms, max=190276.0ms
-  sensor_polling: mean=495.2ms, total=275.84s, count=557, min=381.1ms, max=852.9ms
-  physics_step: mean=24.7ms, total=13.74s, count=557, min=14.7ms, max=87.5ms
-  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7683.2ms, max=7683.2ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.8ms, max=4058.8ms
-  task_sampling: mean=577.5ms, total=1.16s, count=2, min=423.3ms, max=731.7ms
-  task_specific_sample: mean=571.5ms, total=1.14s, count=2, min=419.7ms, max=723.3ms
-  scene_randomize: mean=4.4ms, total=8.8ms, count=2, min=1.7ms, max=7.1ms
-  mj_forward_sync: mean=450.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:36:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:36:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:36:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 18:36:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:36:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:36:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m
-[05/10 18:36:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:36:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:36:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:36:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07729987  1.19750495  0.0278163 ] yaw=-131.6deg
-[05/10 18:36:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:36:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74722422  0.49670619  0.0278163 ] yaw=-188.2deg
-[05/10 18:36:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:36:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89779721  0.25119061  0.0278163 ] yaw=161.3deg
-[05/10 18:36:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:36:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:36:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.7ms, total=137.8ms
-[05/10 18:36:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.198, 0.028)
-[05/10 18:36:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg
-[05/10 18:36:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
-[05/10 18:36:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:36:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 18:36:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 18:36:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:36:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:36:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 18:36:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.573s, found feasible grasp: True
-[05/10 18:36:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.514[m] 83.156[deg]
-[05/10 18:36:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:36:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:36:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/10 18:36:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:36:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:36:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072373m
-[05/10 18:36:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:36:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:36:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05310339  1.21680149  0.07237347] yaw=-141.5deg
-[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92834387  0.46160435  0.07237347] yaw=176.4deg
-[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07103646  0.90667419  0.07237347] yaw=-139.9deg
-[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:36:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:36:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.5ms
-[05/10 18:36:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.053, 1.217, 0.072)
-[05/10 18:36:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
-[05/10 18:36:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.981m
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:36:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 18:36:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 18:36:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:36:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:36:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 18:36:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.053s, found feasible grasp: True
-[05/10 18:36:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.617[m] 89.989[deg]
-[05/10 18:36:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:36:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:36:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 18:36:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:36:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:36:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085483m
-[05/10 18:36:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:36:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:36:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78438683  0.22645539  0.08548272] yaw=154.6deg
-[05/10 18:36:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:36:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72388311  0.72469983  0.08548272] yaw=-163.2deg
-[05/10 18:36:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:36:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:36:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.2ms, total=179.2ms
-[05/10 18:36:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.226, 0.085)
-[05/10 18:36:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg
-[05/10 18:36:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:36:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:36:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:36:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 18:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 18:36:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:36:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:36:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:37:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True
-[05/10 18:37:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.545[m] 97.955[deg]
-[05/10 18:37:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:37:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:39:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:39:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:39:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:39:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
-[05/10 18:39:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.323s, found feasible grasp: True
-[05/10 18:39:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.574[deg]
-[05/10 18:39:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:39:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:40:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:40:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:40:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:40:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:40:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.42s (batch: 3.91s, save: 7.51s)
-[05/10 18:40:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
-  episode_total: mean=69.83s, total=209.50s, count=3, min=3453.7ms, max=202195.3ms
-  sensor_polling: mean=462.2ms, total=138.67s, count=300, min=396.4ms, max=882.2ms
-  save_trajectories: mean=7.51s, total=7.51s, count=1, min=7511.5ms, max=7511.5ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=13.4ms, max=59.6ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.2ms, max=3906.2ms
-  task_sampling: mean=429.9ms, total=1.29s, count=3, min=322.2ms, max=545.0ms
-  task_specific_sample: mean=426.6ms, total=1.28s, count=3, min=319.6ms, max=539.8ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.1ms, max=3.4ms
-  mj_forward_sync: mean=469.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 18:40:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:40:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:40:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 18:40:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:40:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:40:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035219m
-[05/10 18:40:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:40:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:40:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88441163  1.0147874   0.03521872] yaw=-146.1deg
-[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11070662  1.1058788   0.03521872] yaw=-142.9deg
-[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81109134  0.30615233  0.03521872] yaw=165.1deg
-[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:40:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:40:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms
-[05/10 18:40:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 1.015, 0.035)
-[05/10 18:40:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
-[05/10 18:40:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:40:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:40:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:40:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 18:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/10 18:40:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:40:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:40:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 18:40:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.837s, found feasible grasp: True
-[05/10 18:40:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.523[m] 78.992[deg]
-[05/10 18:40:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:42:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:43:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:43:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
-[05/10 18:43:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:43:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:43:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
-[05/10 18:43:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.82s (batch: 3.94s, save: 7.88s)
-[05/10 18:43:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.51s:
-  episode_total: mean=171.53s, total=171.53s, count=1, min=171531.2ms, max=171531.2ms
-  sensor_polling: mean=420.2ms, total=126.05s, count=300, min=366.2ms, max=759.4ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.9ms, max=7884.9ms
-  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.5ms, max=68.6ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.8ms, max=3936.8ms
-  task_sampling: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  task_specific_sample: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:43:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:43:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:43:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/10 18:43:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:43:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:43:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092368m
-[05/10 18:43:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:43:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:43:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16724396  1.00984182  0.09236771] yaw=-133.1deg
-[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9910261   0.84610897  0.09236771] yaw=-162.7deg
-[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:43:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9549785   1.10251601  0.09236771] yaw=-138.3deg
-[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:43:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:43:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.3ms, total=98.3ms
-[05/10 18:43:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.167, 1.010, 0.092)
-[05/10 18:43:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
-[05/10 18:43:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:43:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:43:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:43:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 18:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 18:43:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:43:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:43:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 18:43:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
-[05/10 18:43:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.305[m] 88.902[deg]
-[05/10 18:43:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:43:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:43:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:45:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps
-[05/10 18:45:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.329s, found feasible grasp: True
-[05/10 18:45:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.360[deg]
-[05/10 18:45:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:45:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:45:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
-[05/10 18:45:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
-[05/10 18:45:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5770.94s
-  House averages:
-  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
-  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
-  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
-  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
-  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
-  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
-  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:45:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 18:45:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5770.94s
-  Worker averages:
-  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
-  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
-  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
-  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
-  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
-  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
-  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
-  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
-  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
-  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
-  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
-  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
-  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 18:45:34 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 18:45:34 INFO pipeline.py:1491] Success count: 12, Total count: 12
-[05/10 18:45:34 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
-==========================================
diff --git a/fridge_7/chunk_005/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_005/trajectories_batch_1_of_4_cam_rand.h5
deleted file mode 100644
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--- a/fridge_7/chunk_005/trajectories_batch_1_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge_7/chunk_005/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_7/chunk_005/trajectories_batch_2_of_4_cam_rand.h5
deleted file mode 100644
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--- a/fridge_7/chunk_005/trajectories_batch_2_of_4_cam_rand.h5
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diff --git a/fridge_7/chunk_005/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_7/chunk_005/trajectories_batch_3_of_4_cam_rand.h5
deleted file mode 100644
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--- a/fridge_7/chunk_005/trajectories_batch_3_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge_7/chunk_005/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_7/chunk_005/trajectories_batch_4_of_4_cam_rand.h5
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deleted file mode 100644
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diff --git a/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
deleted file mode 100644
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--- a/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
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diff --git a/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
deleted file mode 100644
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-05/10 18:51:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 18:51:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 18:51:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 18:51:58 INFO: {'batch_num': 4,
- 'benchmark_path': None,
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-                                'record_depth': True,
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- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x763699c276d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20604,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 18:51:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 18:51:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 18:51:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 18:51:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 18:51:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 18:51:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 18:51:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 18:51:58 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7540bf3a7f10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20603,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 18:51:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 18:51:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 18:51:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 18:51:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 18:51:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 18:51:59 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 18:51:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 18:51:59 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73b67c57e110>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20602,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 18:51:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 18:51:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 18:51:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 18:51:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 18:52:00 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 18:52:00 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 18:52:00 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 18:52:00 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d9b54385b50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20601,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 18:52:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 18:52:00 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 18:52:00 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 18:52:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 18:52:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 18:52:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 18:52:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 18:52:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081495m	[env.py: 870]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006825m	[env.py: 870]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83469819  0.11393273  0.08149534] yaw=160.0deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71563594  0.91335377  0.08149534] yaw=-145.2deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83702882  0.90066737  0.08149534] yaw=-151.6deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.7ms, retries=147.1ms, total=158.8ms	[env.py: 1075]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.114, 0.081)	[env.py: 1079]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.0 deg	[env.py: 1082]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81244264  0.10970495  0.0068253 ] yaw=162.3deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96084579  0.68996448  0.0068253 ] yaw=-161.2deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86396972  0.6822877   0.0068253 ] yaw=-168.1deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=32.4ms, retries=281.0ms, total=313.4ms	[env.py: 1075]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.110, 0.007)	[env.py: 1079]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg	[env.py: 1082]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:52:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:52:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:52:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 18:52:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055615m	[env.py: 870]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94246878  0.089583    0.05561463] yaw=159.6deg	[env.py: 1019]
-05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92372828  0.43183592  0.05561463] yaw=183.2deg	[env.py: 1019]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9105508   0.05673009  0.05561463] yaw=157.6deg	[env.py: 1019]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=23.1ms, retries=195.6ms, total=218.7ms	[env.py: 1075]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.090, 0.056)	[env.py: 1079]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:03 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 18:52:03 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 18:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:52:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:52:03 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 18:52:03 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 18:52:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:52:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:52:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:52:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:52:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025898m	[env.py: 870]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:52:03 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87032311  0.34133851  0.02589845] yaw=172.0deg	[env.py: 1019]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95517067  1.05601714  0.02589845] yaw=-153.9deg	[env.py: 1019]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89936375  0.70824251  0.02589845] yaw=-161.8deg	[env.py: 1019]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=102.1ms, total=114.7ms	[env.py: 1075]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.341, 0.026)	[env.py: 1079]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg	[env.py: 1082]
-05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:52:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 24.580s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 23.957s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:52:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:52:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 94.564[deg]	[grasp_sample.py: 539]
-05/10 18:52:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 25.331s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:52:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 85.760[deg]	[grasp_sample.py: 539]
-05/10 18:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:52:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:52:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.455[m] 79.031[deg]	[grasp_sample.py: 539]
-05/10 18:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 25.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:52:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:52:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:52:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.392[m] 77.575[deg]	[grasp_sample.py: 539]
-05/10 18:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:53:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:53:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:53:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:53:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:53:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:54:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:54:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:54:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:31 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.269s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:54:31 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.025[m] 2.888[deg]	[grasp_sample.py: 539]
-05/10 18:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:54:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:54:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:54:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:54:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.329s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:54:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.632[deg]	[grasp_sample.py: 539]
-05/10 18:54:31 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:54:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:54:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:54:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:54:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021496m	[env.py: 870]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80235789  0.17323678  0.02149578] yaw=150.5deg	[env.py: 1019]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91774722  1.11084884  0.02149578] yaw=-141.9deg	[env.py: 1019]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86021383  0.19889075  0.02149578] yaw=159.6deg	[env.py: 1019]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms	[env.py: 1075]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.173, 0.021)	[env.py: 1079]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
-05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:54:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:54:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:54:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:54:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:54:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.331[deg]	[grasp_sample.py: 539]
-05/10 18:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:54:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:54:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:54:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:54:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:54:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:54:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:54:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088962m	[env.py: 870]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:54:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07447279  0.96848679  0.08896172] yaw=-141.1deg	[env.py: 1019]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04027818  1.12042477  0.08896172] yaw=-128.1deg	[env.py: 1019]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73082784  0.32557111  0.08896172] yaw=173.8deg	[env.py: 1019]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms	[env.py: 1075]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.968, 0.089)	[env.py: 1079]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
-05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:54:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:54:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:54:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:54:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:54:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:54:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 90.791[deg]	[grasp_sample.py: 539]
-05/10 18:54:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:54:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:54:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:54:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:54:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:54:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:54:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:54:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:54:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:54:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]	[grasp_sample.py: 539]
-05/10 18:54:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:54:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:54:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:54:57 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:55:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:55:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:55:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:55:06 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 18:55:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:55:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:55:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:55:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:55:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:55:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:55:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:55:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 3.92s, save: 8.06s)	[pipeline.py: 300]
-05/10 18:55:19 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
-  episode_total: mean=198.71s, total=198.71s, count=1, min=198713.7ms, max=198713.7ms
-  sensor_polling: mean=434.3ms, total=128.98s, count=297, min=403.6ms, max=586.0ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.3ms, max=8055.3ms
-  physics_step: mean=20.9ms, total=6.19s, count=297, min=16.6ms, max=32.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.9ms, max=3923.9ms
-  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.0ms, max=3508.0ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=37.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:55:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:55:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:55:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084325m	[env.py: 870]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8354344   1.01921969  0.08432512] yaw=-152.4deg	[env.py: 1019]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84080846  0.32126557  0.08432512] yaw=160.6deg	[env.py: 1019]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11908877  1.14225974  0.08432512] yaw=-125.1deg	[env.py: 1019]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:55:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.0ms, total=64.0ms	[env.py: 1075]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 1.019, 0.084)	[env.py: 1079]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
-05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:55:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:55:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:55:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:55:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:55:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:55:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:55:22 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.598[m] 90.653[deg]	[grasp_sample.py: 539]
-05/10 18:55:23 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 18:55:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:55:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:55:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:55:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:55:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:55:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079471m	[env.py: 870]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:55:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8747267   0.55102781  0.07947141] yaw=-185.2deg	[env.py: 1019]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.18252479  1.05443306  0.07947141] yaw=-122.7deg	[env.py: 1019]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:55:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms	[env.py: 1075]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.551, 0.079)	[env.py: 1079]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.2 deg	[env.py: 1082]
-05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:55:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:55:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:55:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:55:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:55:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:55:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:55:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 93.941[deg]	[grasp_sample.py: 539]
-05/10 18:55:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:55:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:55:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:55:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:55:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:55:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.18s, save: 8.17s)	[pipeline.py: 300]
-05/10 18:55:29 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
-  episode_total: mean=211.14s, total=211.14s, count=1, min=211143.9ms, max=211143.9ms
-  sensor_polling: mean=431.5ms, total=129.46s, count=300, min=400.8ms, max=578.2ms
-  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8172.5ms, max=8172.5ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.9ms, max=28.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.6ms, max=4182.6ms
-  task_sampling: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=567.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:55:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:55:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:55:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:55:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:55:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:55:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009717m	[env.py: 870]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:55:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77643334  0.5874257   0.0097166 ] yaw=-172.0deg	[env.py: 1019]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02552139  0.80729708  0.0097166 ] yaw=-157.5deg	[env.py: 1019]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:55:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms	[env.py: 1075]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.587, 0.010)	[env.py: 1079]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
-05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:55:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:55:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:55:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:55:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:55:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:55:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:55:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:55:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 88.142[deg]	[grasp_sample.py: 539]
-05/10 18:55:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:55:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:55:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:56:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:56:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:56:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:56:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:56:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:56:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:56:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:56:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:56:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:56:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:56:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:56:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:56:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.896[deg]	[grasp_sample.py: 539]
-05/10 18:56:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:56:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:56:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:57:00 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:57:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:57:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 18:57:11 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 18:57:20 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:57:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 18:57:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:57:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:57:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:57:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.25s (batch: 3.64s, save: 7.61s)	[pipeline.py: 300]
-05/10 18:57:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.01s:
-  episode_total: mean=161.34s, total=322.68s, count=2, min=153925.5ms, max=168751.2ms
-  sensor_polling: mean=427.5ms, total=231.27s, count=541, min=390.8ms, max=670.2ms
-  physics_step: mean=19.4ms, total=10.48s, count=541, min=14.2ms, max=29.0ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7611.1ms, max=7611.1ms
-  task_sampling: mean=2.00s, total=4.01s, count=2, min=331.1ms, max=3676.5ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.4ms, max=3635.4ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  task_specific_sample: mean=470.6ms, total=941.1ms, count=2, min=328.8ms, max=612.4ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=373.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:57:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:57:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:57:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:57:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:57:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029144m	[env.py: 870]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0575382   1.04569979  0.02914364] yaw=-146.1deg	[env.py: 1019]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87992433  0.88248525  0.02914364] yaw=-162.0deg	[env.py: 1019]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9149309   1.21049527  0.02914364] yaw=-128.6deg	[env.py: 1019]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:57:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms	[env.py: 1075]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.046, 0.029)	[env.py: 1079]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
-05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:57:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:57:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:57:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:57:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:57:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:57:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:57:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:57:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.955[deg]	[grasp_sample.py: 539]
-05/10 18:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:57:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:57:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:57:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:57:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:57:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 4.18s, save: 7.79s)	[pipeline.py: 300]
-05/10 18:57:32 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
-  episode_total: mean=165.75s, total=331.50s, count=2, min=152229.5ms, max=179268.1ms
-  sensor_polling: mean=434.9ms, total=227.90s, count=524, min=393.8ms, max=706.1ms
-  physics_step: mean=19.9ms, total=10.42s, count=524, min=13.2ms, max=29.4ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.9ms, max=7793.9ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.7ms, max=4181.7ms
-  task_sampling: mean=2.02s, total=4.05s, count=2, min=302.8ms, max=3742.5ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  task_specific_sample: mean=440.6ms, total=881.1ms, count=2, min=300.4ms, max=580.8ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.3ms, max=1.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=542.9us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:57:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:57:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:57:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:57:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:57:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:57:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:57:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008568m	[env.py: 870]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:57:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91943258  0.48870449  0.00856844] yaw=-179.2deg	[env.py: 1019]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85290186  1.0952648   0.00856844] yaw=-155.5deg	[env.py: 1019]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93435986  0.48934392  0.00856844] yaw=-176.1deg	[env.py: 1019]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.3ms	[env.py: 1075]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.489, 0.009)	[env.py: 1079]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg	[env.py: 1082]
-05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:57:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:57:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:57:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:57:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:57:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:57:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.072[deg]	[grasp_sample.py: 539]
-05/10 18:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:57:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:57:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:57:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:57:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 18:58:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:58:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 18:58:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:58:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:58:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:58:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 18:58:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 18:58:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 18:58:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:58:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:58:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:58:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:58:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.27s, save: 8.09s)	[pipeline.py: 300]
-05/10 18:58:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.82s:
-  episode_total: mean=88.03s, total=176.05s, count=2, min=2874.6ms, max=173177.4ms
-  sensor_polling: mean=435.5ms, total=130.66s, count=300, min=393.7ms, max=554.7ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8089.7ms, max=8089.7ms
-  physics_step: mean=19.4ms, total=5.83s, count=300, min=14.6ms, max=30.2ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.1ms, max=4272.1ms
-  task_sampling: mean=408.1ms, total=816.1ms, count=2, min=294.5ms, max=521.6ms
-  task_specific_sample: mean=405.2ms, total=810.4ms, count=2, min=291.4ms, max=519.0ms
-  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
-  mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:58:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:58:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:58:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:58:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:58:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:58:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:58:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:58:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013426m	[env.py: 870]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:58:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80040013  0.27768055  0.01342609] yaw=171.6deg	[env.py: 1019]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85404637  0.96154702  0.01342609] yaw=-148.7deg	[env.py: 1019]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:58:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.278, 0.013)	[env.py: 1079]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
-05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:58:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:58:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:58:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:58:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:58:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:58:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:58:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:58:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 86.651[deg]	[grasp_sample.py: 539]
-05/10 18:58:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 18:58:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 18:58:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.62s, save: 8.19s)	[pipeline.py: 300]
-05/10 18:58:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:58:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:58:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:58:21 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.53s:
-  episode_total: mean=170.51s, total=170.51s, count=1, min=170511.8ms, max=170511.8ms
-  sensor_polling: mean=433.1ms, total=129.93s, count=300, min=394.0ms, max=632.8ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.4ms, max=8192.4ms
-  physics_step: mean=19.2ms, total=5.76s, count=300, min=14.5ms, max=27.8ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.6ms, max=3624.6ms
-  task_sampling: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
-  task_specific_sample: mean=524.4ms, total=524.4ms, count=1, min=524.4ms, max=524.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=398.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 18:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 18:58:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 18:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:58:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 18:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 18:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 18:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026796m	[env.py: 870]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 18:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71578058  0.34498013  0.02679642] yaw=175.7deg	[env.py: 1019]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90716321  0.6962257   0.02679642] yaw=-155.8deg	[env.py: 1019]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08060607  1.13413775  0.02679642] yaw=-143.9deg	[env.py: 1019]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 18:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms	[env.py: 1075]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.345, 0.027)	[env.py: 1079]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg	[env.py: 1082]
-05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 18:58:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 18:58:23 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 18:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 18:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:58:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:58:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.534[m] 90.711[deg]	[grasp_sample.py: 539]
-05/10 18:58:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 18:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 18:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:59:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:59:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:59:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:59:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:59:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 18:59:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 18:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 18:59:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 18:59:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 18:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 18:59:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 18:59:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 18:59:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 18:59:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.293[deg]	[grasp_sample.py: 539]
-05/10 18:59:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:00:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:00:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:00:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:00:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070481m	[env.py: 870]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6925216   0.5061356   0.07048102] yaw=-188.1deg	[env.py: 1019]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90353355  0.67384229  0.07048102] yaw=-173.7deg	[env.py: 1019]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.1ms	[env.py: 1075]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.506, 0.070)	[env.py: 1079]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg	[env.py: 1082]
-05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:00:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:00:01 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:00:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:00:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:00:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.048s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:00:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 90.669[deg]	[grasp_sample.py: 539]
-05/10 19:00:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:00:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:00:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:00:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:00:25 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:00:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:00:25 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 19:00:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:00:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:00:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.02s, save: 12.06s)	[pipeline.py: 300]
-05/10 19:00:41 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
-  episode_total: mean=187.37s, total=187.37s, count=1, min=187372.2ms, max=187372.2ms
-  sensor_polling: mean=475.2ms, total=139.25s, count=293, min=400.7ms, max=902.2ms
-  save_trajectories: mean=12.06s, total=12.06s, count=1, min=12055.5ms, max=12055.5ms
-  physics_step: mean=22.1ms, total=6.47s, count=293, min=14.5ms, max=64.1ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.2ms, max=4017.2ms
-  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
-  task_specific_sample: mean=403.5ms, total=403.5ms, count=1, min=403.5ms, max=403.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:00:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:00:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:00:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027710m	[env.py: 870]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65948798  0.2565467   0.02770975] yaw=170.3deg	[env.py: 1019]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92026484  0.62559611  0.02770975] yaw=-170.2deg	[env.py: 1019]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72016453  0.44481558  0.02770975] yaw=174.3deg	[env.py: 1019]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.2ms, total=77.2ms	[env.py: 1075]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.257, 0.028)	[env.py: 1079]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
-05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:00:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:00:43 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:00:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:00:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:00:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:00:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.651[m] 95.882[deg]	[grasp_sample.py: 539]
-05/10 19:00:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:00:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:00:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:00:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:00:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:00:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:01:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:01:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:01:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:01:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:01:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:01:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:01:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:01:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:01:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:01:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:01:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.99s (batch: 4.08s, save: 7.91s)	[pipeline.py: 300]
-05/10 19:01:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:01:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:01:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.84s (batch: 4.00s, save: 7.84s)	[pipeline.py: 300]
-05/10 19:01:33 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
-  episode_total: mean=193.44s, total=193.44s, count=1, min=193437.6ms, max=193437.6ms
-  sensor_polling: mean=474.9ms, total=142.48s, count=300, min=410.8ms, max=899.4ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.7ms, max=7906.7ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=14.1ms, max=74.6ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4083.4ms, max=4083.4ms
-  task_sampling: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
-  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:01:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
-  episode_total: mean=190.23s, total=190.23s, count=1, min=190230.4ms, max=190230.4ms
-  sensor_polling: mean=481.2ms, total=144.35s, count=300, min=402.3ms, max=879.2ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.8ms, max=7841.8ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.0ms, max=93.4ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.3ms, max=3997.3ms
-  task_sampling: mean=403.4ms, total=403.4ms, count=1, min=403.4ms, max=403.4ms
-  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:01:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094251m	[env.py: 870]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95863266  0.32408908  0.09425061] yaw=159.1deg	[env.py: 1019]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82158255  0.95899551  0.09425061] yaw=-162.2deg	[env.py: 1019]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95740194  1.07220344  0.09425061] yaw=-136.1deg	[env.py: 1019]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms	[env.py: 1075]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.324, 0.094)	[env.py: 1079]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:01:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035270m	[env.py: 870]
-05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75010562 -0.00885265  0.03527008] yaw=161.4deg	[env.py: 1019]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78484861  0.59316214  0.03527008] yaw=-163.1deg	[env.py: 1019]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:01:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:01:35 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96125174  0.30942488  0.03527008] yaw=165.6deg	[env.py: 1019]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:01:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, -0.009, 0.035)	[env.py: 1079]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
-05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
-05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:01:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:01:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:01:35 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:01:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:01:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:01:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.329[m] 88.826[deg]	[grasp_sample.py: 539]
-05/10 19:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:01:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:01:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:01:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.689s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:01:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 90.095[deg]	[grasp_sample.py: 539]
-05/10 19:01:38 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:01:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055125m	[env.py: 870]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78243411  0.87676521  0.05512521] yaw=-164.5deg	[env.py: 1019]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93940621  0.88491134  0.05512521] yaw=-150.9deg	[env.py: 1019]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms	[env.py: 1075]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.877, 0.055)	[env.py: 1079]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
-05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:01:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:01:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:01:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:01:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.853s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:01:43 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.532[m] 84.722[deg]	[grasp_sample.py: 539]
-05/10 19:01:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:01:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:01:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:01:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:01:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:01:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:01:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072648m	[env.py: 870]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:01:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9188889   0.33960113  0.07264779] yaw=159.8deg	[env.py: 1019]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74593304  0.53107616  0.07264779] yaw=-168.2deg	[env.py: 1019]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92948066  0.61383236  0.07264779] yaw=-176.4deg	[env.py: 1019]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:01:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.4ms, total=76.4ms	[env.py: 1075]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.340, 0.073)	[env.py: 1079]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg	[env.py: 1082]
-05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:01:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:01:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:01:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:01:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:01:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:01:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:01:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:01:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.382[m] 95.726[deg]	[grasp_sample.py: 539]
-05/10 19:01:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:01:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:01:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:01:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:01:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:02:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:02:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:02:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:02:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:02:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:02:27 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:02:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:02:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:02:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:02:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:02:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:03:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.445[deg]	[grasp_sample.py: 539]
-05/10 19:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.42s (batch: 4.08s, save: 10.34s)	[pipeline.py: 300]
-05/10 19:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:03:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:03:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043150m	[env.py: 870]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62709239  0.63318129  0.04315036] yaw=-167.6deg	[env.py: 1019]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=504.4ms, total=504.4ms	[env.py: 1075]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.633, 0.043)	[env.py: 1079]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
-05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:07 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.86s:
-  episode_total: mean=170.35s, total=340.70s, count=2, min=153475.4ms, max=187223.9ms
-  sensor_polling: mean=453.7ms, total=264.08s, count=582, min=386.5ms, max=938.1ms
-  physics_step: mean=21.5ms, total=12.54s, count=582, min=13.4ms, max=67.3ms
-  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10338.8ms, max=10338.8ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4077.0ms, max=4077.0ms
-  task_sampling: mean=431.2ms, total=862.5ms, count=2, min=350.1ms, max=512.4ms
-  task_specific_sample: mean=427.6ms, total=855.3ms, count=2, min=346.2ms, max=509.0ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
-  mj_forward_sync: mean=440.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:03:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:03:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:03:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:03:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.229s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:03:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006831m	[env.py: 870]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90131698  0.57054516  0.00683104] yaw=-168.7deg	[env.py: 1019]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:03:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 83.299[deg]	[grasp_sample.py: 539]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12396136  1.12706501  0.00683104] yaw=-121.1deg	[env.py: 1019]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14496754  1.1188614   0.00683104] yaw=-137.6deg	[env.py: 1019]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.4ms, total=272.5ms	[env.py: 1075]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.571, 0.007)	[env.py: 1079]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
-05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 19:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:03:10 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:03:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 88.202[deg]	[grasp_sample.py: 539]
-05/10 19:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:03:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:03:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:03:12 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:03:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:03:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.800[deg]	[grasp_sample.py: 539]
-05/10 19:03:31 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:03:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:03:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:03:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:03:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:03:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:03:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:03:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009198m	[env.py: 870]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80790499  0.19076359  0.00919786] yaw=162.0deg	[env.py: 1019]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9321197   0.74229317  0.00919786] yaw=-162.0deg	[env.py: 1019]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80230296  0.20440691  0.00919786] yaw=155.1deg	[env.py: 1019]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.2ms, total=401.2ms	[env.py: 1075]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.191, 0.009)	[env.py: 1079]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg	[env.py: 1082]
-05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:03:34 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.509[m] 87.422[deg]	[grasp_sample.py: 539]
-05/10 19:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:03:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:03:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:03:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:03:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:03:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:03:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.75s (batch: 4.64s, save: 10.11s)	[pipeline.py: 300]
-05/10 19:03:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.33s:
-  episode_total: mean=184.85s, total=184.85s, count=1, min=184852.2ms, max=184852.2ms
-  sensor_polling: mean=456.6ms, total=136.98s, count=300, min=384.6ms, max=739.9ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10105.0ms, max=10105.0ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=13.5ms, max=78.4ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4643.0ms, max=4643.0ms
-  task_sampling: mean=328.0ms, total=328.0ms, count=1, min=328.0ms, max=328.0ms
-  task_specific_sample: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=484.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:03:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:03:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:03:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:03:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007985m	[env.py: 870]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74347965  0.15783587  0.00798453] yaw=170.2deg	[env.py: 1019]
-05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67899164  0.40389617  0.00798453] yaw=185.4deg	[env.py: 1019]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0314048   1.06181573  0.00798453] yaw=-145.8deg	[env.py: 1019]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms	[env.py: 1075]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.158, 0.008)	[env.py: 1079]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
-05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
-05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:03:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:03:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:03:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:03:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:03:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:03:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:03:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.312[deg]	[grasp_sample.py: 539]
-05/10 19:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:03:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:03:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:04:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:04:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:04:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:04:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:05:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:05:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:05:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:05:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:05:57 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 19:05:58 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:05:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:06:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:06:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:06:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]	[grasp_sample.py: 539]
-05/10 19:06:01 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:06:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030937m	[env.py: 870]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87686889  1.01125251  0.03093666] yaw=-139.2deg	[env.py: 1019]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92854805  0.93516997  0.03093666] yaw=-148.0deg	[env.py: 1019]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71858181  0.63063159  0.03093666] yaw=-179.3deg	[env.py: 1019]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.4ms	[env.py: 1075]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 1.011, 0.031)	[env.py: 1079]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg	[env.py: 1082]
-05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:04 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:09 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.569[m] 91.324[deg]	[grasp_sample.py: 539]
-05/10 19:06:11 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:06:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:06:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:06:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.41s (batch: 4.01s, save: 10.40s)	[pipeline.py: 300]
-05/10 19:06:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:06:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:06:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.25s (batch: 3.86s, save: 11.39s)	[pipeline.py: 300]
-05/10 19:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030934m	[env.py: 870]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73955949  0.45507532  0.03093433] yaw=172.0deg	[env.py: 1019]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92737788  1.09649015  0.03093433] yaw=-147.7deg	[env.py: 1019]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:13 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
-  episode_total: mean=183.76s, total=183.76s, count=1, min=183759.0ms, max=183759.0ms
-  sensor_polling: mean=463.6ms, total=135.83s, count=293, min=396.5ms, max=735.1ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.7ms, max=11393.7ms
-  physics_step: mean=21.5ms, total=6.30s, count=293, min=16.5ms, max=63.1ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.3ms, max=3857.3ms
-  task_sampling: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms
-  task_specific_sample: mean=525.9ms, total=525.9ms, count=1, min=525.9ms, max=525.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=594.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86911205  0.76872358  0.03093433] yaw=-162.0deg	[env.py: 1019]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.9ms, total=70.9ms	[env.py: 1075]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.455, 0.031)	[env.py: 1079]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg	[env.py: 1082]
-05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
-  episode_total: mean=138.44s, total=276.88s, count=2, min=90435.9ms, max=186442.1ms
-  sensor_polling: mean=458.0ms, total=207.47s, count=453, min=379.5ms, max=699.0ms
-  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.1ms, max=10401.1ms
-  physics_step: mean=21.5ms, total=9.75s, count=453, min=16.0ms, max=55.5ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.9ms, max=4012.9ms
-  task_sampling: mean=586.8ms, total=1.17s, count=2, min=401.4ms, max=772.2ms
-  task_specific_sample: mean=583.3ms, total=1.17s, count=2, min=397.7ms, max=768.9ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:06:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:13 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 91.184[deg]	[grasp_sample.py: 539]
-05/10 19:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:06:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:06:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046622m	[env.py: 870]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75807543  0.89876004  0.04662154] yaw=-151.2deg	[env.py: 1019]
-05/10 19:06:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097797m	[env.py: 870]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68685243  0.48096134  0.04662154] yaw=172.9deg	[env.py: 1019]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16843435  1.08595992  0.09779739] yaw=-132.7deg	[env.py: 1019]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98828512  0.156259    0.04662154] yaw=146.9deg	[env.py: 1019]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.5ms, total=242.5ms	[env.py: 1075]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.899, 0.047)	[env.py: 1079]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94618036  0.86635164  0.09779739] yaw=-150.3deg	[env.py: 1019]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94319759  0.73073794  0.09779739] yaw=-160.6deg	[env.py: 1019]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=349.5ms, total=349.6ms	[env.py: 1075]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.086, 0.098)	[env.py: 1079]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg	[env.py: 1082]
-05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:15 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 84.295[deg]	[grasp_sample.py: 539]
-05/10 19:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.627[m] 84.918[deg]	[grasp_sample.py: 539]
-05/10 19:06:18 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:06:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063249m	[env.py: 870]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91031426  0.89475763  0.06324946] yaw=-148.2deg	[env.py: 1019]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74657931  0.29955688  0.06324946] yaw=173.1deg	[env.py: 1019]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10523343  1.21377645  0.06324946] yaw=-117.9deg	[env.py: 1019]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.895, 0.063)	[env.py: 1079]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
-05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.496[deg]	[grasp_sample.py: 539]
-05/10 19:06:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:06:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:06:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:06:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:06:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:06:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:06:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.58s (batch: 4.65s, save: 8.92s)	[pipeline.py: 300]
-05/10 19:06:55 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
-  episode_total: mean=185.12s, total=185.12s, count=1, min=185123.4ms, max=185123.4ms
-  sensor_polling: mean=457.2ms, total=137.15s, count=300, min=376.7ms, max=747.5ms
-  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8924.7ms, max=8924.7ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.0ms, max=56.4ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.5ms, max=4651.5ms
-  task_sampling: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
-  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:06:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074251m	[env.py: 870]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89610773  0.43011314  0.07425114] yaw=182.1deg	[env.py: 1019]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68564026  0.28016863  0.07425114] yaw=161.6deg	[env.py: 1019]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76316685 -0.02901475  0.07425114] yaw=156.1deg	[env.py: 1019]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms	[env.py: 1075]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.430, 0.074)	[env.py: 1079]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.1 deg	[env.py: 1082]
-05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:06:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:06:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:06:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:06:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 103.346[deg]	[grasp_sample.py: 539]
-05/10 19:06:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:06:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:06:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:07:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:07:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:07:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:07:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:07:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:08:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:08:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:08:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:08:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:08:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.613[deg]	[grasp_sample.py: 539]
-05/10 19:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:08:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:08:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:08:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039586m	[env.py: 870]
-05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.4ms, total=263.4ms	[env.py: 1105]
-05/10 19:08:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 19:08:30 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 19:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:08:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:08:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:08:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:08:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:08:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:08:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090367m	[env.py: 870]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:08:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07232484  0.97354684  0.09036695] yaw=-148.3deg	[env.py: 1019]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04682759  1.01758559  0.09036695] yaw=-131.5deg	[env.py: 1019]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84873829  0.71781361  0.09036695] yaw=-171.3deg	[env.py: 1019]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms	[env.py: 1075]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.974, 0.090)	[env.py: 1079]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg	[env.py: 1082]
-05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:08:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:08:32 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:08:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:08:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:08:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:08:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 82.849[deg]	[grasp_sample.py: 539]
-05/10 19:08:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:08:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:08:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:08:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:08:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:08:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:08:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.345s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:08:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.516[deg]	[grasp_sample.py: 539]
-05/10 19:08:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:08:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:08:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:08:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:08:45 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:08:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:08:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:09:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:09:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:09:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:09:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:09:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:09:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.37s (batch: 3.57s, save: 9.80s)	[pipeline.py: 300]
-05/10 19:09:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:09:21 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.15s:
-  episode_total: mean=92.57s, total=185.15s, count=2, min=3369.0ms, max=181778.7ms
-  sensor_polling: mean=451.8ms, total=135.53s, count=300, min=389.8ms, max=827.2ms
-  save_trajectories: mean=9.80s, total=9.80s, count=1, min=9802.8ms, max=9802.8ms
-  physics_step: mean=20.5ms, total=6.14s, count=300, min=16.6ms, max=51.4ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.1ms, max=3571.1ms
-  task_sampling: mean=572.8ms, total=1.15s, count=2, min=484.2ms, max=661.5ms
-  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=481.6ms, max=658.1ms
-  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=366.8us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:09:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048223m	[env.py: 870]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94346397  1.20337296  0.04822252] yaw=-137.3deg	[env.py: 1019]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89964057  0.6975012   0.04822252] yaw=-170.2deg	[env.py: 1019]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69020021  0.75385263  0.04822252] yaw=-157.5deg	[env.py: 1019]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.7ms, total=404.8ms	[env.py: 1075]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.203, 0.048)	[env.py: 1079]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
-05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:09:24 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:09:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:09:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.250s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:09:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 90.238[deg]	[grasp_sample.py: 539]
-05/10 19:09:28 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:09:28 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:09:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:09:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:09:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:09:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:09:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:09:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082278m	[env.py: 870]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:09:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03936046  0.95452202  0.08227833] yaw=-153.0deg	[env.py: 1019]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92731733  0.15048     0.08227833] yaw=165.4deg	[env.py: 1019]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.794161    0.79167249  0.08227833] yaw=-168.6deg	[env.py: 1019]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:09:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.7ms	[env.py: 1075]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.955, 0.082)	[env.py: 1079]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
-05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:09:30 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:09:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:09:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:09:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:09:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 87.368[deg]	[grasp_sample.py: 539]
-05/10 19:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:09:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:09:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:09:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:09:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:09:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.64s (batch: 4.89s, save: 9.75s)	[pipeline.py: 300]
-05/10 19:09:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.55s:
-  episode_total: mean=78.19s, total=469.16s, count=6, min=3228.2ms, max=199425.2ms
-  sensor_polling: mean=459.1ms, total=349.36s, count=761, min=392.2ms, max=906.3ms
-  physics_step: mean=21.8ms, total=16.60s, count=761, min=14.1ms, max=60.6ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.6ms, max=9748.6ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4892.7ms, max=4892.7ms
-  task_sampling: mean=425.7ms, total=2.55s, count=6, min=298.5ms, max=668.0ms
-  task_specific_sample: mean=422.6ms, total=2.54s, count=6, min=296.2ms, max=665.1ms
-  scene_randomize: mean=1.5ms, total=9.2ms, count=6, min=1.1ms, max=2.1ms
-  mj_forward_sync: mean=437.3us, total=2.6ms, count=6, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:09:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:09:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:09:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:09:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:09:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:09:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059708m	[env.py: 870]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:09:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95830597  0.14220888  0.05970755] yaw=157.1deg	[env.py: 1019]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95401952  0.68471503  0.05970755] yaw=-173.4deg	[env.py: 1019]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16587387  1.14275301  0.05970755] yaw=-130.1deg	[env.py: 1019]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:09:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.7ms, total=89.7ms	[env.py: 1075]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.142, 0.060)	[env.py: 1079]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
-05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:09:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:09:34 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:09:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:09:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:09:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.425[m] 94.625[deg]	[grasp_sample.py: 539]
-05/10 19:09:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:09:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:09:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:09:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:09:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:09:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:10:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:10:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.95s (batch: 4.69s, save: 11.26s)	[pipeline.py: 300]
-05/10 19:10:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
-  episode_total: mean=188.05s, total=188.05s, count=1, min=188049.3ms, max=188049.3ms
-  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=382.3ms, max=849.7ms
-  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11261.4ms, max=11261.4ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.7ms, max=74.2ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4689.4ms, max=4689.4ms
-  task_sampling: mean=395.5ms, total=395.5ms, count=1, min=395.5ms, max=395.5ms
-  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=522.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:10:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:10:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:10:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:10:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:10:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m	[env.py: 870]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:10:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93175871  0.6391646   0.03486101] yaw=-158.4deg	[env.py: 1019]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85008075  0.09837553  0.03486101] yaw=144.6deg	[env.py: 1019]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99360456  0.90140209  0.03486101] yaw=-149.2deg	[env.py: 1019]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms	[env.py: 1075]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.639, 0.035)	[env.py: 1079]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
-05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:10:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:10:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:10:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:10:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:10:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:10:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:10:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:10:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 76.391[deg]	[grasp_sample.py: 539]
-05/10 19:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:10:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:10:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:10:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:10:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:11:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:11:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:11:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:11:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:11:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:11:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.411[deg]	[grasp_sample.py: 539]
-05/10 19:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:11:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:11:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:11:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023199m	[env.py: 870]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89176196  1.06348649  0.02319869] yaw=-147.7deg	[env.py: 1019]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79867554  1.04039615  0.02319869] yaw=-141.8deg	[env.py: 1019]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87219826  0.3828309   0.02319869] yaw=162.1deg	[env.py: 1019]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:11:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms	[env.py: 1075]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 1.063, 0.023)	[env.py: 1079]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
-05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:11:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:11:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:11:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:11:10 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.583[m] 81.237[deg]	[grasp_sample.py: 539]
-05/10 19:11:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:11:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:11:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:11:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:11:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092021m	[env.py: 870]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:11:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93446649  1.18028066  0.09202085] yaw=-137.8deg	[env.py: 1019]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77524713  0.39751339  0.09202085] yaw=175.1deg	[env.py: 1019]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms	[env.py: 1075]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.180, 0.092)	[env.py: 1079]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg	[env.py: 1082]
-05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:11:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:11:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:11:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.366s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:11:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 79.747[deg]	[grasp_sample.py: 539]
-05/10 19:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:11:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:11:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:11:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:11:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:11:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.138[deg]	[grasp_sample.py: 539]
-05/10 19:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:11:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:11:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:11:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:11:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025371m	[env.py: 870]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62372097  0.54540133  0.02537102] yaw=-173.4deg	[env.py: 1019]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75218811  0.18054499  0.02537102] yaw=154.5deg	[env.py: 1019]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88744511  1.00673041  0.02537102] yaw=-138.6deg	[env.py: 1019]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.6ms, total=324.6ms	[env.py: 1075]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.545, 0.025)	[env.py: 1079]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg	[env.py: 1082]
-05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:11:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:11:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:11:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:11:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:11:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:11:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 99.150[deg]	[grasp_sample.py: 539]
-05/10 19:11:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:11:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:11:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:11:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:12:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:12:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:12:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:12:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:12:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:12:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:12:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:12:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:12:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:12:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.26s (batch: 4.02s, save: 11.23s)	[pipeline.py: 300]
-05/10 19:12:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.13s:
-  episode_total: mean=94.92s, total=189.83s, count=2, min=4534.5ms, max=185299.0ms
-  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=397.2ms, max=1061.9ms
-  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11233.4ms, max=11233.4ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=55.3ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms
-  task_sampling: mean=567.5ms, total=1.13s, count=2, min=370.1ms, max=764.8ms
-  task_specific_sample: mean=563.8ms, total=1.13s, count=2, min=367.4ms, max=760.3ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
-  mj_forward_sync: mean=495.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:12:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:12:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:12:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084899m	[env.py: 870]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93815121  0.53433215  0.08489949] yaw=-176.6deg	[env.py: 1019]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78568417  0.90194166  0.08489949] yaw=-165.7deg	[env.py: 1019]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79285745  0.468084    0.08489949] yaw=182.5deg	[env.py: 1019]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms	[env.py: 1075]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.534, 0.085)	[env.py: 1079]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg	[env.py: 1082]
-05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:12:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:12:36 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:12:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:12:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 85.298[deg]	[grasp_sample.py: 539]
-05/10 19:12:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:12:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:12:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:12:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:12:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:12:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:12:47 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
-05/10 19:12:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:12:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:12:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:12:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:12:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.03s (batch: 3.71s, save: 8.32s)	[pipeline.py: 300]
-05/10 19:13:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.39s:
-  episode_total: mean=174.04s, total=174.04s, count=1, min=174038.7ms, max=174038.7ms
-  sensor_polling: mean=465.3ms, total=130.29s, count=280, min=403.9ms, max=811.7ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8321.5ms, max=8321.5ms
-  physics_step: mean=21.6ms, total=6.06s, count=280, min=13.4ms, max=50.3ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.5ms, max=3705.5ms
-  task_sampling: mean=388.8ms, total=388.8ms, count=1, min=388.8ms, max=388.8ms
-  task_specific_sample: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:13:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:13:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087099m	[env.py: 870]
-05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87930123  0.16866367  0.087099  ] yaw=169.8deg	[env.py: 1019]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77818913  0.68164191  0.087099  ] yaw=-158.8deg	[env.py: 1019]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73513428  0.83167668  0.087099  ] yaw=-152.3deg	[env.py: 1019]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.169, 0.087)	[env.py: 1079]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
-05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:13:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:13:02 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:13:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:13:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:13:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:13:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.271s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:13:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 87.577[deg]	[grasp_sample.py: 539]
-05/10 19:13:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:13:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:13:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:13:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:13:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:13:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:13:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:13:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.208s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:13:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.802[deg]	[grasp_sample.py: 539]
-05/10 19:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:13:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:14:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:14:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:14:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:14:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:14:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.56s, save: 7.73s)	[pipeline.py: 300]
-05/10 19:14:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:14:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:14:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:14:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.74s:
-  episode_total: mean=96.75s, total=483.75s, count=5, min=272.4ms, max=192257.1ms
-  sensor_polling: mean=458.0ms, total=384.26s, count=839, min=386.2ms, max=972.1ms
-  physics_step: mean=21.2ms, total=17.79s, count=839, min=13.7ms, max=68.4ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.6ms, max=7727.6ms
-  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.5ms, max=3556.5ms
-  task_specific_sample: mean=398.1ms, total=1.99s, count=5, min=268.4ms, max=600.9ms
-  task_sampling: mean=433.9ms, total=1.74s, count=4, min=330.7ms, max=605.0ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  scene_randomize: mean=1.5ms, total=7.5ms, count=5, min=1.1ms, max=2.8ms
-  mj_forward_sync: mean=421.6us, total=2.1ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:14:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090076m	[env.py: 870]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226069  0.71575217  0.09007552] yaw=-157.6deg	[env.py: 1019]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70525732  0.47701535  0.09007552] yaw=190.5deg	[env.py: 1019]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86716768  0.759505    0.09007552] yaw=-167.4deg	[env.py: 1019]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms	[env.py: 1075]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.716, 0.090)	[env.py: 1079]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
-05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:14:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:14:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:14:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 90.613[deg]	[grasp_sample.py: 539]
-05/10 19:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:14:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:14:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:14:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.50s (batch: 3.73s, save: 9.77s)	[pipeline.py: 300]
-05/10 19:14:39 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.92s:
-  episode_total: mean=151.66s, total=303.33s, count=2, min=118162.7ms, max=185165.9ms
-  sensor_polling: mean=467.3ms, total=235.03s, count=503, min=399.8ms, max=791.0ms
-  physics_step: mean=21.8ms, total=10.96s, count=503, min=13.7ms, max=47.7ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9766.2ms, max=9766.2ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.5ms, max=3732.5ms
-  task_sampling: mean=460.2ms, total=920.3ms, count=2, min=354.7ms, max=565.6ms
-  task_specific_sample: mean=455.9ms, total=911.7ms, count=2, min=350.7ms, max=561.0ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:14:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:14:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:14:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:14:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:14:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033890m	[env.py: 870]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71386259  0.42507214  0.0338905 ] yaw=178.0deg	[env.py: 1019]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70366184  0.49535685  0.0338905 ] yaw=-181.9deg	[env.py: 1019]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03423039  1.05802274  0.0338905 ] yaw=-132.3deg	[env.py: 1019]
-05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.6ms	[env.py: 1075]
-05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.425, 0.034)	[env.py: 1079]
-05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg	[env.py: 1082]
-05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
-05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:14:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:14:41 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:14:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:14:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:14:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 94.445[deg]	[grasp_sample.py: 539]
-05/10 19:14:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:14:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:14:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:15:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:15:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:15:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:15:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:15:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.683[deg]	[grasp_sample.py: 539]
-05/10 19:15:08 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:15:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:15:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:15:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:15:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:15:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:15:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013906m	[env.py: 870]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:15:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79111073  0.41280059  0.01390552] yaw=179.5deg	[env.py: 1019]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05063276  1.00761634  0.01390552] yaw=-135.5deg	[env.py: 1019]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6477955   0.41617399  0.01390552] yaw=178.4deg	[env.py: 1019]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.2ms, total=338.2ms	[env.py: 1075]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.413, 0.014)	[env.py: 1079]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg	[env.py: 1082]
-05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:15:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:15:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:15:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:15:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:15:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:15:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:15:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.482[m] 95.894[deg]	[grasp_sample.py: 539]
-05/10 19:15:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:15:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:15:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:15:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:15:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:15:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:15:23 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 19:15:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:15:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:15:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:15:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:15:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.17s (batch: 3.69s, save: 8.48s)	[pipeline.py: 300]
-05/10 19:15:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
-  episode_total: mean=179.47s, total=179.47s, count=1, min=179469.8ms, max=179469.8ms
-  sensor_polling: mean=460.0ms, total=130.19s, count=283, min=388.9ms, max=713.7ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8479.4ms, max=8479.4ms
-  physics_step: mean=21.2ms, total=5.99s, count=283, min=13.6ms, max=48.3ms
-  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3693.6ms, max=3693.6ms
-  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
-  task_specific_sample: mean=358.5ms, total=358.5ms, count=1, min=358.5ms, max=358.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:15:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:15:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087474m	[env.py: 870]
-05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00903823  1.33425582  0.08747381] yaw=-129.3deg	[env.py: 1019]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87235157  0.47878457  0.08747381] yaw=176.9deg	[env.py: 1019]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97659762  0.16095397  0.08747381] yaw=153.3deg	[env.py: 1019]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.334, 0.087)	[env.py: 1079]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg	[env.py: 1082]
-05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:15:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:15:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:15:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.097s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 19:15:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 19:15:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:15:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:15:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:15:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:15:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:15:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078773m	[env.py: 870]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:15:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78625291  0.39804339  0.0787727 ] yaw=169.6deg	[env.py: 1019]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87345999  0.71966789  0.0787727 ] yaw=-159.4deg	[env.py: 1019]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96640995  0.84121504  0.0787727 ] yaw=-143.0deg	[env.py: 1019]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=681.8ms, total=681.8ms	[env.py: 1075]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.398, 0.079)	[env.py: 1079]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
-05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:15:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:15:44 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:15:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:15:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.295s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:15:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.471[m] 85.788[deg]	[grasp_sample.py: 539]
-05/10 19:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:15:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:15:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:15:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:15:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:16:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:16:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:16:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:16:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:16:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:16:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:17:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:17:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:17:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:17:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:17:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:17:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:17:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.419[deg]	[grasp_sample.py: 539]
-05/10 19:17:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:17:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:17:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:17:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:17:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:17:24 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:17:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:17:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.88s, save: 7.40s)	[pipeline.py: 300]
-05/10 19:17:32 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
-  episode_total: mean=185.68s, total=185.68s, count=1, min=185682.6ms, max=185682.6ms
-  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=403.8ms, max=863.0ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7399.2ms, max=7399.2ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=14.3ms, max=134.0ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.7ms, max=3875.7ms
-  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
-  task_specific_sample: mean=352.7ms, total=352.7ms, count=1, min=352.7ms, max=352.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=380.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:17:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:17:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:17:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:17:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:17:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057801m	[env.py: 870]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06837964  1.16566132  0.05780111] yaw=-140.0deg	[env.py: 1019]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99678145  1.05440216  0.05780111] yaw=-146.4deg	[env.py: 1019]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms	[env.py: 1075]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.166, 0.058)	[env.py: 1079]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
-05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:17:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:17:34 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:17:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:17:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:17:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 84.734[deg]	[grasp_sample.py: 539]
-05/10 19:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:17:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:17:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:17:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:17:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:17:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:17:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:17:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:17:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:17:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:17:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:17:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:17:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.213[deg]	[grasp_sample.py: 539]
-05/10 19:17:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:17:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:17:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:18:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:18:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.54s (batch: 4.38s, save: 8.16s)	[pipeline.py: 300]
-05/10 19:18:00 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
-  episode_total: mean=199.80s, total=199.80s, count=1, min=199799.2ms, max=199799.2ms
-  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=401.2ms, max=846.0ms
-  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8164.2ms, max=8164.2ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.5ms, max=50.1ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4375.6ms, max=4375.6ms
-  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
-  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=562.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:18:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:18:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:18:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:18:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:18:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069916m	[env.py: 870]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91429128  0.36425648  0.06991551] yaw=162.2deg	[env.py: 1019]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92319623  1.03182846  0.06991551] yaw=-145.7deg	[env.py: 1019]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90644387  0.86824515  0.06991551] yaw=-156.4deg	[env.py: 1019]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms	[env.py: 1075]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.364, 0.070)	[env.py: 1079]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
-05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:18:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:18:02 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:18:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:18:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:18:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:18:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:18:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:18:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.352[m] 89.109[deg]	[grasp_sample.py: 539]
-05/10 19:18:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:18:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.24s (batch: 3.92s, save: 11.32s)	[pipeline.py: 300]
-05/10 19:18:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.06s:
-  episode_total: mean=157.01s, total=314.03s, count=2, min=126440.7ms, max=187587.7ms
-  sensor_polling: mean=460.0ms, total=239.18s, count=520, min=380.0ms, max=803.1ms
-  physics_step: mean=22.9ms, total=11.90s, count=520, min=14.0ms, max=97.8ms
-  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.5ms, max=11320.5ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.0ms, max=3920.0ms
-  task_sampling: mean=531.1ms, total=1.06s, count=2, min=458.1ms, max=604.0ms
-  task_specific_sample: mean=525.5ms, total=1.05s, count=2, min=450.4ms, max=600.6ms
-  mj_forward_sync: mean=2.5ms, total=5.0ms, count=2, min=0.5ms, max=4.5ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.6ms, max=2.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:18:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061247m	[env.py: 870]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13202517  1.19086047  0.06124704] yaw=-130.4deg	[env.py: 1019]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87770832  1.00261835  0.06124704] yaw=-143.0deg	[env.py: 1019]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1075]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.191, 0.061)	[env.py: 1079]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
-05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:18:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:18:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:18:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.786s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:18:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 80.068[deg]	[grasp_sample.py: 539]
-05/10 19:18:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:18:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:18:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:18:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:37 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:18:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:18:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:18:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:03 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:19:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:19:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:19:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:19:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:19:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.16s (batch: 3.87s, save: 8.29s)	[pipeline.py: 300]
-05/10 19:19:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.44s:
-  episode_total: mean=108.08s, total=216.16s, count=2, min=3836.4ms, max=212319.3ms
-  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=391.9ms, max=1037.0ms
-  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8288.1ms, max=8288.1ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.6ms, max=89.4ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.4ms, max=3872.4ms
-  task_sampling: mean=720.6ms, total=1.44s, count=2, min=460.1ms, max=981.1ms
-  task_specific_sample: mean=716.3ms, total=1.43s, count=2, min=456.2ms, max=976.5ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
-  mj_forward_sync: mean=585.8us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:19:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:19:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:19:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:19:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036768m	[env.py: 870]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7481991   0.68244235  0.03676838] yaw=-179.5deg	[env.py: 1019]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81006446  0.47823023  0.03676838] yaw=186.5deg	[env.py: 1019]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84978367  0.92646938  0.03676838] yaw=-151.3deg	[env.py: 1019]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.4ms	[env.py: 1075]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.682, 0.037)	[env.py: 1079]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg	[env.py: 1082]
-05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:19:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:19:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:19:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:19:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.521[m] 85.868[deg]	[grasp_sample.py: 539]
-05/10 19:19:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:19:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:19:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:19:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:19:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:19:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:19:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:19:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:19:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:19:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:19:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:19:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]	[grasp_sample.py: 539]
-05/10 19:19:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:19:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:19:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:19:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:19:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:19:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:19:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.124[deg]	[grasp_sample.py: 539]
-05/10 19:19:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:19:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:19:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]	[grasp_sample.py: 539]
-05/10 19:19:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:19:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:19:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:53 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:19:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:19:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:19:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:19:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:19:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:19:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055655m	[env.py: 870]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:19:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85604119  0.29991321  0.05565471] yaw=175.3deg	[env.py: 1019]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93877913  1.15611033  0.05565471] yaw=-133.5deg	[env.py: 1019]
-05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:19:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=332.9ms, total=332.9ms	[env.py: 1075]
-05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.300, 0.056)	[env.py: 1079]
-05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
-05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
-05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:19:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:19:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:19:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:19:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:19:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:19:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:19:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 86.617[deg]	[grasp_sample.py: 539]
-05/10 19:19:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:20:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:20:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:20:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:20:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:20:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.324s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:20:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.672[deg]	[grasp_sample.py: 539]
-05/10 19:20:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:20:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:20:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:20:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 19:20:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 19:20:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.39s:
-  episode_total: mean=137.24s, total=137.24s, count=1, min=137241.4ms, max=137241.4ms
-  sensor_polling: mean=481.3ms, total=100.10s, count=208, min=405.4ms, max=992.0ms
-  physics_step: mean=23.7ms, total=4.93s, count=208, min=11.9ms, max=103.6ms
-  task_sampling: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
-  task_specific_sample: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:20:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:20:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:20:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090484m	[env.py: 870]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91339618  0.19110336  0.09048423] yaw=169.6deg	[env.py: 1019]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91033214  0.90920914  0.09048423] yaw=-160.4deg	[env.py: 1019]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68067852  0.81703755  0.09048423] yaw=-157.5deg	[env.py: 1019]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms	[env.py: 1075]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.191, 0.090)	[env.py: 1079]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
-05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:20:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:20:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:20:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:20:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:20:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:20:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.408[m] 88.182[deg]	[grasp_sample.py: 539]
-05/10 19:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:20:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:20:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:20:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:20:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:20:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:20:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 0.653[deg]	[grasp_sample.py: 539]
-05/10 19:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:20:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:20:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093094m	[env.py: 870]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62344828  0.3867221   0.09309448] yaw=180.5deg	[env.py: 1019]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88076545  0.39731517  0.09309448] yaw=168.0deg	[env.py: 1019]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms	[env.py: 1075]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.623, 0.387, 0.093)	[env.py: 1079]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg	[env.py: 1082]
-05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:20:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:20:31 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:20:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:20:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:20:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:20:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:20:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.615[m] 83.644[deg]	[grasp_sample.py: 539]
-05/10 19:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:20:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:20:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:20:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:20:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:21:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:21:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:21:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:21:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]	[grasp_sample.py: 539]
-05/10 19:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:21:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:21:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:21:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:21:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:21:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:21:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:21:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.348s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:21:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.901[deg]	[grasp_sample.py: 539]
-05/10 19:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:22:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:22:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:22:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.324[deg]	[grasp_sample.py: 539]
-05/10 19:22:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:22:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:22:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:22:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:22:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:22:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:22:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:22:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024669m	[env.py: 870]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:22:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73679213  0.05392849  0.02466882] yaw=167.1deg	[env.py: 1019]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12525039  1.13441302  0.02466882] yaw=-133.7deg	[env.py: 1019]
-05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms	[env.py: 1075]
-05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.054, 0.025)	[env.py: 1079]
-05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
-05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
-05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:22:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:22:16 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:22:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:22:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:22:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:22:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:22:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:22:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:22:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:22:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.597[m] 85.037[deg]	[grasp_sample.py: 539]
-05/10 19:22:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:22:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:22:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:22:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:22:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:22:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:22:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.06s (batch: 4.01s, save: 8.04s)	[pipeline.py: 300]
-05/10 19:22:29 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
-  episode_total: mean=191.83s, total=191.83s, count=1, min=191830.8ms, max=191830.8ms
-  sensor_polling: mean=467.7ms, total=140.31s, count=300, min=389.6ms, max=715.3ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.4ms, max=56.1ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.2ms, max=4012.2ms
-  task_sampling: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
-  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:22:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:22:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054017m	[env.py: 870]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14960527  1.13573657  0.05401719] yaw=-131.9deg	[env.py: 1019]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83490367  0.64903022  0.05401719] yaw=-179.5deg	[env.py: 1019]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95235789  0.43459283  0.05401719] yaw=169.8deg	[env.py: 1019]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms	[env.py: 1075]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.150, 1.136, 0.054)	[env.py: 1079]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
-05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:22:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:22:31 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:22:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.107s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:22:35 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.457[m] 80.686[deg]	[grasp_sample.py: 539]
-05/10 19:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:22:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:22:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:22:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:23:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:23:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:23:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:23:12 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:23:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:23:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:23:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.77s (batch: 4.35s, save: 8.42s)	[pipeline.py: 300]
-05/10 19:23:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
-  episode_total: mean=172.75s, total=345.50s, count=2, min=139174.7ms, max=206324.2ms
-  sensor_polling: mean=468.8ms, total=255.04s, count=544, min=381.4ms, max=950.5ms
-  physics_step: mean=23.0ms, total=12.53s, count=544, min=13.9ms, max=87.8ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.4ms, max=8422.4ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.3ms, max=4352.3ms
-  task_sampling: mean=515.6ms, total=1.03s, count=2, min=432.1ms, max=599.1ms
-  task_specific_sample: mean=512.2ms, total=1.02s, count=2, min=428.5ms, max=595.9ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=387.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:23:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:23:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:23:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067721m	[env.py: 870]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64056816  0.73729754  0.06772051] yaw=-157.1deg	[env.py: 1019]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68970916  0.61275353  0.06772051] yaw=-181.3deg	[env.py: 1019]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93497003  0.07258553  0.06772051] yaw=142.8deg	[env.py: 1019]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.3ms, total=134.3ms	[env.py: 1075]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.737, 0.068)	[env.py: 1079]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
-05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:23:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:23:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:23:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:23:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:23:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:23:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:23:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 86.125[deg]	[grasp_sample.py: 539]
-05/10 19:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:23:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:23:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:23:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:23:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:23:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:23:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:23:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:23:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:23:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:23:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.24s (batch: 4.01s, save: 7.23s)	[pipeline.py: 300]
-05/10 19:23:44 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.06s:
-  episode_total: mean=161.45s, total=322.91s, count=2, min=129955.9ms, max=192949.6ms
-  sensor_polling: mean=467.6ms, total=247.34s, count=529, min=393.1ms, max=962.6ms
-  physics_step: mean=22.8ms, total=12.08s, count=529, min=14.0ms, max=66.7ms
-  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7231.4ms, max=7231.4ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.8ms, max=4012.8ms
-  task_sampling: mean=529.2ms, total=1.06s, count=2, min=389.2ms, max=669.3ms
-  task_specific_sample: mean=525.3ms, total=1.05s, count=2, min=385.7ms, max=664.9ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.8ms, max=2.9ms
-  mj_forward_sync: mean=485.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:23:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:23:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:23:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078231m	[env.py: 870]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68642908  0.25178267  0.07823135] yaw=165.8deg	[env.py: 1019]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.7ms	[env.py: 1075]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.252, 0.078)	[env.py: 1079]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
-05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:23:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:23:46 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:23:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:23:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 83.747[deg]	[grasp_sample.py: 539]
-05/10 19:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:23:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:23:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:24:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:24:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:24:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:24:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:24:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:24:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:24:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:24:52 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.058[m] 9.513[deg]	[grasp_sample.py: 539]
-05/10 19:24:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:24:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:24:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081956m	[env.py: 870]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94771017  0.86759464  0.08195639] yaw=-159.4deg	[env.py: 1019]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80261569  0.08894499  0.08195639] yaw=163.5deg	[env.py: 1019]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=487.8ms, total=487.8ms	[env.py: 1075]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.868, 0.082)	[env.py: 1079]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
-05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
-05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:24:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:24:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:24:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:24:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 86.665[deg]	[grasp_sample.py: 539]
-05/10 19:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:24:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:25:01 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:25:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:25:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:25:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:25:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:25:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:25:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:25:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.68s (batch: 3.82s, save: 9.86s)	[pipeline.py: 300]
-05/10 19:25:41 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
-  episode_total: mean=159.61s, total=319.22s, count=2, min=113162.4ms, max=206061.9ms
-  sensor_polling: mean=459.1ms, total=228.62s, count=498, min=396.4ms, max=743.3ms
-  physics_step: mean=22.4ms, total=11.17s, count=498, min=13.7ms, max=56.7ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9855.4ms, max=9855.4ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.5ms, max=3823.5ms
-  task_sampling: mean=413.7ms, total=827.3ms, count=2, min=366.0ms, max=461.3ms
-  task_specific_sample: mean=409.6ms, total=819.2ms, count=2, min=362.9ms, max=456.3ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=449.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:25:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:25:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:25:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:25:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:25:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:25:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:25:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045478m	[env.py: 870]
-05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:25:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7849755   0.07059824  0.04547836] yaw=155.1deg	[env.py: 1019]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87994603  0.89636905  0.04547836] yaw=-152.2deg	[env.py: 1019]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:25:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=810.7ms, total=810.7ms	[env.py: 1075]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.071, 0.045)	[env.py: 1079]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
-05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:25:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:25:45 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:25:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:25:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.040s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:25:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 93.635[deg]	[grasp_sample.py: 539]
-05/10 19:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:25:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:25:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:25:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:25:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:26:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:26:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:26:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:26:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:26:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:26:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:26:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.97s, save: 7.85s)	[pipeline.py: 300]
-05/10 19:26:29 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
-  episode_total: mean=187.08s, total=187.08s, count=1, min=187076.0ms, max=187076.0ms
-  sensor_polling: mean=466.5ms, total=139.95s, count=300, min=391.8ms, max=992.5ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7847.1ms, max=7847.1ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=15.0ms, max=87.7ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.1ms, max=3973.1ms
-  task_sampling: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=396.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:26:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:26:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:26:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084559m	[env.py: 870]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68439439  0.66049262  0.08455925] yaw=-160.1deg	[env.py: 1019]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69282558  0.16573699  0.08455925] yaw=167.9deg	[env.py: 1019]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63432645  0.53209359  0.08455925] yaw=-181.8deg	[env.py: 1019]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.0ms, total=86.1ms	[env.py: 1075]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.660, 0.085)	[env.py: 1079]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
-05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:26:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:26:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:26:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:26:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 92.453[deg]	[grasp_sample.py: 539]
-05/10 19:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:26:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:26:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:26:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:26:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.08s (batch: 3.86s, save: 7.22s)	[pipeline.py: 300]
-05/10 19:26:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=185.70s, total=185.70s, count=1, min=185704.7ms, max=185704.7ms
-  sensor_polling: mean=469.9ms, total=140.97s, count=300, min=403.2ms, max=817.1ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7222.5ms, max=7222.5ms
-  physics_step: mean=23.7ms, total=7.10s, count=300, min=14.1ms, max=65.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.1ms, max=3859.1ms
-  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
-  task_specific_sample: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:26:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004976m	[env.py: 870]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87568378  0.38910765  0.00497556] yaw=165.7deg	[env.py: 1019]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90456046  0.27846351  0.00497556] yaw=157.7deg	[env.py: 1019]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85313987  0.88206703  0.00497556] yaw=-161.2deg	[env.py: 1019]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.6ms	[env.py: 1075]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.389, 0.005)	[env.py: 1079]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.7 deg	[env.py: 1082]
-05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
-05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:26:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:26:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:26:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.031[deg]	[grasp_sample.py: 539]
-05/10 19:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:27:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:27:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:27:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:27:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:27:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:27:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:27:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:27:49 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:27:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:27:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:28:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:28:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:28:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.88s (batch: 3.81s, save: 8.07s)	[pipeline.py: 300]
-05/10 19:28:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.18s:
-  episode_total: mean=164.93s, total=329.86s, count=2, min=142597.9ms, max=187265.4ms
-  sensor_polling: mean=458.1ms, total=254.72s, count=556, min=387.7ms, max=858.6ms
-  physics_step: mean=21.6ms, total=12.02s, count=556, min=16.6ms, max=61.4ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8066.0ms, max=8066.0ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3810.1ms, max=3810.1ms
-  task_sampling: mean=591.0ms, total=1.18s, count=2, min=445.3ms, max=736.8ms
-  task_specific_sample: mean=587.6ms, total=1.18s, count=2, min=441.2ms, max=733.9ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:28:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:28:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:28:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074360m	[env.py: 870]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69299864  0.69619572  0.0743603 ] yaw=-168.6deg	[env.py: 1019]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85618463  0.58282715  0.0743603 ] yaw=-165.9deg	[env.py: 1019]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02230848  0.84498051  0.0743603 ] yaw=-157.9deg	[env.py: 1019]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms	[env.py: 1075]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.696, 0.074)	[env.py: 1079]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
-05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:28:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:28:04 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:28:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:28:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:28:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:28:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:28:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:28:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 88.347[deg]	[grasp_sample.py: 539]
-05/10 19:28:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:28:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:28:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:28:16 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:28:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:28:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:28:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:28:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:28:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.02s (batch: 4.24s, save: 11.77s)	[pipeline.py: 300]
-05/10 19:28:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.13s:
-  episode_total: mean=191.79s, total=191.79s, count=1, min=191791.2ms, max=191791.2ms
-  sensor_polling: mean=459.0ms, total=137.69s, count=300, min=396.2ms, max=711.9ms
-  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11772.2ms, max=11772.2ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=64.3ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4244.4ms, max=4244.4ms
-  task_sampling: mean=1.13s, total=1.13s, count=1, min=1126.6ms, max=1126.6ms
-  task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1122.0ms, max=1122.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:28:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:28:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:28:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:28:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m	[env.py: 870]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90620847  1.05989578  0.03486075] yaw=-141.6deg	[env.py: 1019]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98101817  0.15038829  0.03486075] yaw=150.3deg	[env.py: 1019]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89775821  1.08977325  0.03486075] yaw=-146.7deg	[env.py: 1019]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms	[env.py: 1075]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 1.060, 0.035)	[env.py: 1079]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
-05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:28:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:28:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:28:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:28:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:28:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:28:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:28:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:28:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 91.002[deg]	[grasp_sample.py: 539]
-05/10 19:29:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:29:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:29:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:29:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:29:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095615m	[env.py: 870]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08661142  1.02150901  0.09561494] yaw=-128.5deg	[env.py: 1019]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02641749  0.82442678  0.09561494] yaw=-153.7deg	[env.py: 1019]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95425569  0.85642442  0.09561494] yaw=-159.0deg	[env.py: 1019]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:29:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.4ms	[env.py: 1075]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.022, 0.096)	[env.py: 1079]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
-05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:29:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:29:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:29:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 89.580[deg]	[grasp_sample.py: 539]
-05/10 19:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:29:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:29:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:29:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:29:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:29:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:29:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.66s (batch: 3.96s, save: 7.70s)	[pipeline.py: 300]
-05/10 19:29:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
-  episode_total: mean=186.45s, total=186.45s, count=1, min=186450.9ms, max=186450.9ms
-  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=395.7ms, max=912.5ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7704.4ms, max=7704.4ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=13.7ms, max=74.6ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.8ms, max=3957.8ms
-  task_sampling: mean=346.5ms, total=346.5ms, count=1, min=346.5ms, max=346.5ms
-  task_specific_sample: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:29:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:29:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:29:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093853m	[env.py: 870]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69162751  0.25086776  0.0938531 ] yaw=155.7deg	[env.py: 1019]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83569178  0.3727052   0.0938531 ] yaw=167.5deg	[env.py: 1019]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773306  1.01352261  0.0938531 ] yaw=-150.0deg	[env.py: 1019]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.3ms, total=79.3ms	[env.py: 1075]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.251, 0.094)	[env.py: 1079]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
-05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:29:39 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:29:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:29:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:29:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:29:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:29:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.575[m] 87.300[deg]	[grasp_sample.py: 539]
-05/10 19:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:29:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:29:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:29:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:29:45 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 19:29:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:29:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:29:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:29:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:29:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.39s (batch: 3.74s, save: 7.65s)	[pipeline.py: 300]
-05/10 19:29:57 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
-  episode_total: mean=184.50s, total=184.50s, count=1, min=184498.4ms, max=184498.4ms
-  sensor_polling: mean=474.6ms, total=140.95s, count=297, min=396.0ms, max=942.0ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7648.5ms, max=7648.5ms
-  physics_step: mean=24.1ms, total=7.15s, count=297, min=14.4ms, max=71.9ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.4ms, max=3740.4ms
-  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:29:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:29:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:29:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044237m	[env.py: 870]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77728585  1.01553904  0.04423693] yaw=-143.8deg	[env.py: 1019]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74261267 -0.01483249  0.04423693] yaw=161.0deg	[env.py: 1019]
-05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83681365  0.44966757  0.04423693] yaw=186.0deg	[env.py: 1019]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms	[env.py: 1075]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 1.016, 0.044)	[env.py: 1079]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg	[env.py: 1082]
-05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
-05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:29:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:29:59 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:29:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:30:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:30:01 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.625[m] 83.605[deg]	[grasp_sample.py: 539]
-05/10 19:30:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:30:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:30:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:30:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:30:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:30:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:30:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:31:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:31:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:31:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:31:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:31:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.53s (batch: 3.86s, save: 7.67s)	[pipeline.py: 300]
-05/10 19:31:12 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
-  episode_total: mean=188.95s, total=188.95s, count=1, min=188945.3ms, max=188945.3ms
-  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=397.6ms, max=1042.9ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7669.6ms, max=7669.6ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=88.3ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.0ms, max=3861.0ms
-  task_sampling: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
-  task_specific_sample: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:31:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:31:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:31:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:31:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013435m	[env.py: 870]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69543388  0.24971224  0.01343544] yaw=164.2deg	[env.py: 1019]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85045167  0.1076041   0.01343544] yaw=166.3deg	[env.py: 1019]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02172415  0.12426163  0.01343544] yaw=158.0deg	[env.py: 1019]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.250, 0.013)	[env.py: 1079]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
-05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:31:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:31:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:31:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:31:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:31:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:31:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:31:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:31:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:31:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:31:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.634[m] 102.781[deg]	[grasp_sample.py: 539]
-05/10 19:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:31:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:31:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.283[deg]	[grasp_sample.py: 539]
-05/10 19:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:31:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:31:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:31:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:17 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 19:31:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:31:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:31:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:31:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.555[deg]	[grasp_sample.py: 539]
-05/10 19:31:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:31:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:31:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:31:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:31:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:31:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.288[deg]	[grasp_sample.py: 539]
-05/10 19:31:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:31:38 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 19:31:39 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:31:39 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:31:39 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
-05/10 19:31:39 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=4293.41s
-  House averages:
-  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
-  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
-  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
-  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
-  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
-  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 19:31:39 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 19:31:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4293.41s
-  Worker averages:
-  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
-  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
-  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
-  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
-  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
-  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 19:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 19:31:42 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
-05/10 19:31:42 INFO: Success rate: 88.89%	[pipeline.py: 1492]
-05/10 19:31:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:31:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:31:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:31:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:31:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:31:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:31:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:31:53 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.852[deg]	[grasp_sample.py: 539]
-05/10 19:31:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:31:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:31:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:31:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:32:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:32:29 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:32:31 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.927s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:32:31 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.423[deg]	[grasp_sample.py: 539]
-05/10 19:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 19:32:39 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.34s:
-  episode_total: mean=180.50s, total=180.50s, count=1, min=180499.0ms, max=180499.0ms
-  sensor_polling: mean=463.4ms, total=139.02s, count=300, min=389.6ms, max=911.3ms
-  physics_step: mean=20.7ms, total=6.20s, count=300, min=12.8ms, max=63.3ms
-  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
-  task_specific_sample: mean=331.6ms, total=331.6ms, count=1, min=331.6ms, max=331.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=900.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:32:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:32:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:32:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:32:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:32:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:32:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:32:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063536m	[env.py: 870]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:32:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69273936  0.53399501  0.063536  ] yaw=-169.5deg	[env.py: 1019]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71076361  0.6084154   0.063536  ] yaw=-165.6deg	[env.py: 1019]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8678396   0.32860855  0.063536  ] yaw=169.8deg	[env.py: 1019]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:32:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.0ms, total=79.0ms	[env.py: 1075]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.534, 0.064)	[env.py: 1079]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg	[env.py: 1082]
-05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:32:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:32:41 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:32:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 76.819[deg]	[grasp_sample.py: 539]
-05/10 19:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:32:50 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:32:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:32:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:33:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:33:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 3.62s, save: 7.27s)	[pipeline.py: 300]
-05/10 19:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:02 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
-  episode_total: mean=183.52s, total=183.52s, count=1, min=183520.6ms, max=183520.6ms
-  sensor_polling: mean=454.2ms, total=136.27s, count=300, min=377.6ms, max=814.2ms
-  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7274.7ms, max=7274.7ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.0ms, max=88.5ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
-  task_sampling: mean=440.2ms, total=440.2ms, count=1, min=440.2ms, max=440.2ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=387.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:33:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:33:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:33:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008178m	[env.py: 870]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92590871  0.1942485   0.00817809] yaw=149.1deg	[env.py: 1019]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84026272  1.1045823   0.00817809] yaw=-153.1deg	[env.py: 1019]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:33:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms	[env.py: 1075]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.194, 0.008)	[env.py: 1079]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg	[env.py: 1082]
-05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
-05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:33:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:33:04 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:33:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:33:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:33:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.446[m] 101.366[deg]	[grasp_sample.py: 539]
-05/10 19:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:33:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:33:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:33:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:33:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:33:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:33:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:33:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.300[deg]	[grasp_sample.py: 539]
-05/10 19:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:33:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:33:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:33:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:33:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:33:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:33:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:33:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:33:42 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.889[deg]	[grasp_sample.py: 539]
-05/10 19:33:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:33:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:33:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:33:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 19:33:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.39s:
-  episode_total: mean=165.84s, total=165.84s, count=1, min=165836.7ms, max=165836.7ms
-  sensor_polling: mean=457.3ms, total=137.18s, count=300, min=384.4ms, max=696.3ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=85.3ms
-  task_sampling: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms
-  task_specific_sample: mean=382.6ms, total=382.6ms, count=1, min=382.6ms, max=382.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=515.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:34:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:34:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:34:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:34:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:34:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:34:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:34:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:34:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023556m	[env.py: 870]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:34:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04799081  0.9067216   0.02355592] yaw=-154.7deg	[env.py: 1019]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79250185  0.97044528  0.02355592] yaw=-153.3deg	[env.py: 1019]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94722484  0.48828177  0.02355592] yaw=-168.8deg	[env.py: 1019]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.4ms, total=379.5ms	[env.py: 1075]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.907, 0.024)	[env.py: 1079]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg	[env.py: 1082]
-05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:34:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:34:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:34:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:34:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:34:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:34:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:34:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.095s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:34:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.337[m] 81.301[deg]	[grasp_sample.py: 539]
-05/10 19:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:34:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:34:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:34:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:34:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:03 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:35:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:35:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:35:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:35:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:35:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:35:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.167[deg]	[grasp_sample.py: 539]
-05/10 19:35:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:35:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:35:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:35:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:35:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:35:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:35:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:35:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:35:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:35:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:35:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.04s (batch: 3.53s, save: 9.51s)	[pipeline.py: 300]
-05/10 19:35:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.32s:
-  episode_total: mean=180.17s, total=180.17s, count=1, min=180171.6ms, max=180171.6ms
-  sensor_polling: mean=436.4ms, total=130.92s, count=300, min=377.5ms, max=744.7ms
-  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.8ms, max=9510.8ms
-  physics_step: mean=20.4ms, total=6.11s, count=300, min=16.6ms, max=45.6ms
-  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.5ms, max=3532.5ms
-  task_sampling: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
-  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=434.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:35:43 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:35:43 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:35:43 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
-05/10 19:35:43 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4775.01s
-  House averages:
-  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
-  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
-  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
-  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
-  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
-  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
-  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 19:35:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 19:35:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4775.01s
-  Worker averages:
-  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
-  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
-  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
-  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
-  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
-  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
-  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 19:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 19:35:45 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
-05/10 19:35:45 INFO: Success rate: 90.91%	[pipeline.py: 1492]
-05/10 19:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:35:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:35:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:35:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:35:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:35:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:35:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.294s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:35:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.798[deg]	[grasp_sample.py: 539]
-05/10 19:35:56 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:35:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:35:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:35:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:35:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:35:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003173m	[env.py: 870]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65650312  0.58178795  0.00317297] yaw=-175.8deg	[env.py: 1019]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15908393  1.12544063  0.00317297] yaw=-129.3deg	[env.py: 1019]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94585061  0.73314711  0.00317297] yaw=-152.3deg	[env.py: 1019]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms	[env.py: 1075]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.582, 0.003)	[env.py: 1079]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
-05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:35:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:35:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:35:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:35:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:35:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:35:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 100.851[deg]	[grasp_sample.py: 539]
-05/10 19:35:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:35:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:35:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:36:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:36:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:36:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:36:39 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 19:36:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:36:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:36:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.52s (batch: 3.87s, save: 7.65s)	[pipeline.py: 300]
-05/10 19:36:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.63s:
-  episode_total: mean=169.38s, total=169.38s, count=1, min=169382.8ms, max=169382.8ms
-  sensor_polling: mean=429.9ms, total=123.81s, count=288, min=377.8ms, max=664.7ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7650.4ms, max=7650.4ms
-  physics_step: mean=20.4ms, total=5.88s, count=288, min=16.6ms, max=45.1ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.2ms, max=3872.2ms
-  task_sampling: mean=626.7ms, total=626.7ms, count=1, min=626.7ms, max=626.7ms
-  task_specific_sample: mean=622.9ms, total=622.9ms, count=1, min=622.9ms, max=622.9ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:36:52 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:36:52 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:36:52 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
-05/10 19:36:52 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4896.26s
-  House averages:
-  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
-  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
-  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
-  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
-  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
-  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
-  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 19:36:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 19:36:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4896.26s
-  Worker averages:
-  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
-  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
-  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
-  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
-  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
-  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
-  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 19:36:54 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 19:36:54 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
-05/10 19:36:54 INFO: Success rate: 91.67%	[pipeline.py: 1492]
-05/10 19:36:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:37:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:37:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:38:11 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:38:32 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:38:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.22s (batch: 4.18s, save: 8.04s)	[pipeline.py: 300]
-05/10 19:38:45 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.76s:
-  episode_total: mean=169.87s, total=339.74s, count=2, min=167572.7ms, max=172164.5ms
-  sensor_polling: mean=431.5ms, total=252.85s, count=586, min=366.2ms, max=754.1ms
-  physics_step: mean=20.6ms, total=12.08s, count=586, min=13.5ms, max=72.6ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.0ms, max=4179.0ms
-  task_sampling: mean=381.6ms, total=763.2ms, count=2, min=336.6ms, max=426.5ms
-  task_specific_sample: mean=378.5ms, total=756.9ms, count=2, min=333.7ms, max=423.3ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
-  mj_forward_sync: mean=380.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:38:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:38:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:38:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096185m	[env.py: 870]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94717367  1.00513883  0.09618465] yaw=-137.5deg	[env.py: 1019]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73158962  0.75436254  0.09618465] yaw=-164.5deg	[env.py: 1019]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88830634  0.50885158  0.09618465] yaw=-175.7deg	[env.py: 1019]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.9ms	[env.py: 1075]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.005, 0.096)	[env.py: 1079]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:38:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:38:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:38:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:38:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:38:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:38:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.093s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:38:50 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.517[m] 93.558[deg]	[grasp_sample.py: 539]
-05/10 19:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:38:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:38:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:39:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:39:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:39:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:40:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:41:21 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
-05/10 19:41:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:41:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:41:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:41:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
-05/10 19:41:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.69s (batch: 3.39s, save: 8.29s)	[pipeline.py: 300]
-05/10 19:41:33 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.34s:
-  episode_total: mean=167.50s, total=167.50s, count=1, min=167503.8ms, max=167503.8ms
-  sensor_polling: mean=398.0ms, total=119.40s, count=300, min=350.4ms, max=679.0ms
-  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8292.4ms, max=8292.4ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=45.7ms
-  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.6ms, max=3392.6ms
-  task_sampling: mean=337.3ms, total=337.3ms, count=1, min=337.3ms, max=337.3ms
-  task_specific_sample: mean=333.8ms, total=333.8ms, count=1, min=333.8ms, max=333.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:41:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:41:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:41:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:41:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012397m	[env.py: 870]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6527861   0.23027289  0.01239709] yaw=174.3deg	[env.py: 1019]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms	[env.py: 1075]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.230, 0.012)	[env.py: 1079]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
-05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:41:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:41:35 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:41:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:41:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:41:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:41:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:41:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.650[m] 90.020[deg]	[grasp_sample.py: 539]
-05/10 19:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:41:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:41:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:42:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:42:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:42:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:43:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:43:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:43:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:43:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.279[deg]	[grasp_sample.py: 539]
-05/10 19:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:43:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:43:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:43:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:43:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:43:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:44:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 19:44:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.44s:
-  episode_total: mean=160.96s, total=160.96s, count=1, min=160957.4ms, max=160957.4ms
-  sensor_polling: mean=419.6ms, total=125.88s, count=300, min=360.1ms, max=714.5ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=14.9ms, max=43.5ms
-  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
-  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=489.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
-05/10 19:44:18 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
-05/10 19:44:18 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5728.14s
-  House averages:
-  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
-  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
-  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
-  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
-  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
-  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
-  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 19:44:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 19:44:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5728.14s
-  Worker averages:
-  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
-  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
-  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
-  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
-  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
-  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
-  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 19:44:21 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 19:44:21 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
-05/10 19:44:21 INFO: Success rate: 92.86%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_006/shard_1_of_4.log b/fridge_7/chunk_006/shard_1_of_4.log
deleted file mode 100644
index ea0240c24f78fbd39e89398a8c3bd2f2691ab1c4..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_006/shard_1_of_4.log
+++ /dev/null
@@ -1,1767 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
-  shard=1/4  seed=20601  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:52:00 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 18:52:00 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 18:52:00 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 18:52:00 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d9b54385b50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20601,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 18:52:00 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 18:52:00 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 138106083113744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138106083113744 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 138106083113744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 138106083113744 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 138106087570576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138106087570576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138106087569808 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138106087569808 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138106087569808 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138106087569808 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138106087570576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138106087570576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138106083140688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138106083140688 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 138106083146576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138106083146576 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 138106083146576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 138106083146576 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 138106083140688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 138106083140688 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 18:52:00 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60c2cd2ddc00 at 0x7d9b548f5fd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60c2cd2df7c0 at 0x7d9b543f0c90>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60c2cd2df7c0 at 0x7d9b54887090>
-[05/10 18:52:03 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/10 18:52:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:52:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:52:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025898m
-[05/10 18:52:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:52:03 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 18:52:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87032311  0.34133851  0.02589845] yaw=172.0deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95517067  1.05601714  0.02589845] yaw=-153.9deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89936375  0.70824251  0.02589845] yaw=-161.8deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=102.1ms, total=114.7ms
-[05/10 18:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.341, 0.026)
-[05/10 18:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.957s
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 85.760[deg]
-[05/10 18:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:53:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 18:55:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:55:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 18:55:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 18:55:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 18:55:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:55:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 3.92s, save: 8.06s)
-[05/10 18:55:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
-  episode_total: mean=198.71s, total=198.71s, count=1, min=198713.7ms, max=198713.7ms
-  sensor_polling: mean=434.3ms, total=128.98s, count=297, min=403.6ms, max=586.0ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.3ms, max=8055.3ms
-  physics_step: mean=20.9ms, total=6.19s, count=297, min=16.6ms, max=32.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.9ms, max=3923.9ms
-  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.0ms, max=3508.0ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=37.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:55:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:55:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 18:55:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:55:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:55:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084325m
-[05/10 18:55:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:55:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:55:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8354344   1.01921969  0.08432512] yaw=-152.4deg
-[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84080846  0.32126557  0.08432512] yaw=160.6deg
-[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11908877  1.14225974  0.08432512] yaw=-125.1deg
-[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:55:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:55:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.0ms, total=64.0ms
-[05/10 18:55:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 1.019, 0.084)
-[05/10 18:55:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg
-[05/10 18:55:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:55:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 18:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 18:55:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:55:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:55:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 18:55:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True
-[05/10 18:55:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.598[m] 90.653[deg]
-[05/10 18:55:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:55:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:55:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 18:55:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:55:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:55:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079471m
-[05/10 18:55:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:55:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:55:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8747267   0.55102781  0.07947141] yaw=-185.2deg
-[05/10 18:55:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.18252479  1.05443306  0.07947141] yaw=-122.7deg
-[05/10 18:55:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:55:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:55:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms
-[05/10 18:55:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.551, 0.079)
-[05/10 18:55:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.2 deg
-[05/10 18:55:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.830m
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:55:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 18:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
-[05/10 18:55:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:55:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:55:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 18:55:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True
-[05/10 18:55:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 93.941[deg]
-[05/10 18:55:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:56:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:57:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:58:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:58:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 18:58:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:58:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:58:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:58:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.27s, save: 8.09s)
-[05/10 18:58:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.82s:
-  episode_total: mean=88.03s, total=176.05s, count=2, min=2874.6ms, max=173177.4ms
-  sensor_polling: mean=435.5ms, total=130.66s, count=300, min=393.7ms, max=554.7ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8089.7ms, max=8089.7ms
-  physics_step: mean=19.4ms, total=5.83s, count=300, min=14.6ms, max=30.2ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.1ms, max=4272.1ms
-  task_sampling: mean=408.1ms, total=816.1ms, count=2, min=294.5ms, max=521.6ms
-  task_specific_sample: mean=405.2ms, total=810.4ms, count=2, min=291.4ms, max=519.0ms
-  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
-  mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 18:58:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:58:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:58:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 18:58:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:58:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:58:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013426m
-[05/10 18:58:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:58:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:58:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80040013  0.27768055  0.01342609] yaw=171.6deg
-[05/10 18:58:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:58:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85404637  0.96154702  0.01342609] yaw=-148.7deg
-[05/10 18:58:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:58:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:58:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms
-[05/10 18:58:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.278, 0.013)
-[05/10 18:58:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
-[05/10 18:58:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.925m
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:58:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:58:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:58:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 18:58:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 18:58:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:58:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:58:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 18:58:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True
-[05/10 18:58:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.464[m] 86.651[deg]
-[05/10 18:58:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:00:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:01:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:01:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:01:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:01:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:01:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:01:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.99s (batch: 4.08s, save: 7.91s)
-[05/10 19:01:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
-  episode_total: mean=193.44s, total=193.44s, count=1, min=193437.6ms, max=193437.6ms
-  sensor_polling: mean=474.9ms, total=142.48s, count=300, min=410.8ms, max=899.4ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.7ms, max=7906.7ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=14.1ms, max=74.6ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4083.4ms, max=4083.4ms
-  task_sampling: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
-  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 19:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094251m
-[05/10 19:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:01:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95863266  0.32408908  0.09425061] yaw=159.1deg
-[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82158255  0.95899551  0.09425061] yaw=-162.2deg
-[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95740194  1.07220344  0.09425061] yaw=-136.1deg
-[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:01:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:01:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms
-[05/10 19:01:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.324, 0.094)
-[05/10 19:01:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
-[05/10 19:01:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:01:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.329[m] 88.826[deg]
-[05/10 19:01:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:02:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:02:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:03:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps
-[05/10 19:03:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.603s, found feasible grasp: True
-[05/10 19:03:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.445[deg]
-[05/10 19:03:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:03:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:03:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
-[05/10 19:03:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:03:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:03:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043150m
-[05/10 19:03:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:03:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:03:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62709239  0.63318129  0.04315036] yaw=-167.6deg
-[05/10 19:03:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:03:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=504.4ms, total=504.4ms
-[05/10 19:03:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.633, 0.043)
-[05/10 19:03:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg
-[05/10 19:03:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:03:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 19:03:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.229s, found 88 non-colliding grasps
-[05/10 19:03:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True
-[05/10 19:03:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.646[m] 83.299[deg]
-[05/10 19:03:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:04:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:04:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:05:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:05:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:05:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:05:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:06:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:06:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:06:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.41s (batch: 4.01s, save: 10.40s)
-[05/10 19:06:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
-  episode_total: mean=138.44s, total=276.88s, count=2, min=90435.9ms, max=186442.1ms
-  sensor_polling: mean=458.0ms, total=207.47s, count=453, min=379.5ms, max=699.0ms
-  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.1ms, max=10401.1ms
-  physics_step: mean=21.5ms, total=9.75s, count=453, min=16.0ms, max=55.5ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.9ms, max=4012.9ms
-  task_sampling: mean=586.8ms, total=1.17s, count=2, min=401.4ms, max=772.2ms
-  task_specific_sample: mean=583.3ms, total=1.17s, count=2, min=397.7ms, max=768.9ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:06:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/10 19:06:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097797m
-[05/10 19:06:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16843435  1.08595992  0.09779739] yaw=-132.7deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94618036  0.86635164  0.09779739] yaw=-150.3deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94319759  0.73073794  0.09779739] yaw=-160.6deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=349.5ms, total=349.6ms
-[05/10 19:06:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.086, 0.098)
-[05/10 19:06:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:06:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True
-[05/10 19:06:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.373[m] 84.295[deg]
-[05/10 19:06:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:07:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:08:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:08:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:08:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:08:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:08:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:08:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 19:08:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.512s, found feasible grasp: True
-[05/10 19:08:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.613[deg]
-[05/10 19:08:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:08:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:08:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:08:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:08:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:08:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:08:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:08:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 19:08:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:08:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:08:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039586m
-[05/10 19:08:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:08:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:08:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:30 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.4ms, total=263.4ms
-[05/10 19:08:30 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 19:08:30 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 19:08:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:08:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:08:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/10 19:08:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:08:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:08:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090367m
-[05/10 19:08:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:08:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:08:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07232484  0.97354684  0.09036695] yaw=-148.3deg
-[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04682759  1.01758559  0.09036695] yaw=-131.5deg
-[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84873829  0.71781361  0.09036695] yaw=-171.3deg
-[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:08:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:08:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms
-[05/10 19:08:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.974, 0.090)
-[05/10 19:08:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg
-[05/10 19:08:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.799m
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:08:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:08:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 19:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 19:08:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:08:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:08:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:08:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True
-[05/10 19:08:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 82.849[deg]
-[05/10 19:08:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:09:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:10:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:11:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:11:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:11:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/10 19:11:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.417s, found feasible grasp: True
-[05/10 19:11:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.411[deg]
-[05/10 19:11:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:11:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:11:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 19:11:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:11:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:11:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023199m
-[05/10 19:11:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:11:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:11:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89176196  1.06348649  0.02319869] yaw=-147.7deg
-[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79867554  1.04039615  0.02319869] yaw=-141.8deg
-[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87219826  0.3828309   0.02319869] yaw=162.1deg
-[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:11:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:11:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms
-[05/10 19:11:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 1.063, 0.023)
-[05/10 19:11:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg
-[05/10 19:11:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:11:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 19:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 19:11:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:11:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:11:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 19:11:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.476s, found feasible grasp: True
-[05/10 19:11:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.583[m] 81.237[deg]
-[05/10 19:11:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:11:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:11:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:11:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:11:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/10 19:11:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:11:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:11:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092021m
-[05/10 19:11:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:11:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:11:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93446649  1.18028066  0.09202085] yaw=-137.8deg
-[05/10 19:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77524713  0.39751339  0.09202085] yaw=175.1deg
-[05/10 19:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms
-[05/10 19:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.180, 0.092)
-[05/10 19:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg
-[05/10 19:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
-[05/10 19:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:11:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 19:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 19:11:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:11:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:11:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.366s, found feasible grasp: True
-[05/10 19:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 79.747[deg]
-[05/10 19:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:12:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:13:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:13:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:13:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:13:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
-[05/10 19:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.208s, found feasible grasp: True
-[05/10 19:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.802[deg]
-[05/10 19:13:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:13:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:14:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:14:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:14:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.56s, save: 7.73s)
-[05/10 19:14:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.74s:
-  episode_total: mean=96.75s, total=483.75s, count=5, min=272.4ms, max=192257.1ms
-  sensor_polling: mean=458.0ms, total=384.26s, count=839, min=386.2ms, max=972.1ms
-  physics_step: mean=21.2ms, total=17.79s, count=839, min=13.7ms, max=68.4ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.6ms, max=7727.6ms
-  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.5ms, max=3556.5ms
-  task_specific_sample: mean=398.1ms, total=1.99s, count=5, min=268.4ms, max=600.9ms
-  task_sampling: mean=433.9ms, total=1.74s, count=4, min=330.7ms, max=605.0ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  scene_randomize: mean=1.5ms, total=7.5ms, count=5, min=1.1ms, max=2.8ms
-  mj_forward_sync: mean=421.6us, total=2.1ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/10 19:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/10 19:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090076m
-[05/10 19:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226069  0.71575217  0.09007552] yaw=-157.6deg
-[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70525732  0.47701535  0.09007552] yaw=190.5deg
-[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86716768  0.759505    0.09007552] yaw=-167.4deg
-[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms
-[05/10 19:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.716, 0.090)
-[05/10 19:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg
-[05/10 19:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:14:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:14:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 19:14:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 19:14:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:14:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:14:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True
-[05/10 19:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 90.613[deg]
-[05/10 19:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:15:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:17:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:17:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:17:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:17:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.88s, save: 7.40s)
-[05/10 19:17:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
-  episode_total: mean=185.68s, total=185.68s, count=1, min=185682.6ms, max=185682.6ms
-  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=403.8ms, max=863.0ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7399.2ms, max=7399.2ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=14.3ms, max=134.0ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.7ms, max=3875.7ms
-  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
-  task_specific_sample: mean=352.7ms, total=352.7ms, count=1, min=352.7ms, max=352.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=380.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:17:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:17:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:17:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:17:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:17:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:17:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:17:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 19:17:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:17:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:17:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057801m
-[05/10 19:17:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:17:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:17:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06837964  1.16566132  0.05780111] yaw=-140.0deg
-[05/10 19:17:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:17:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99678145  1.05440216  0.05780111] yaw=-146.4deg
-[05/10 19:17:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:17:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:17:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms
-[05/10 19:17:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.166, 0.058)
-[05/10 19:17:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg
-[05/10 19:17:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
-[05/10 19:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:17:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:17:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 19:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/10 19:17:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:17:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:17:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:17:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.551s, found feasible grasp: True
-[05/10 19:17:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.497[m] 84.734[deg]
-[05/10 19:17:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:18:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.124[deg]
-[05/10 19:19:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:19:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:19:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:19:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:19:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:19:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:19:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 19:19:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:19:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:19:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055655m
-[05/10 19:19:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:19:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:19:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:19:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85604119  0.29991321  0.05565471] yaw=175.3deg
-[05/10 19:19:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93877913  1.15611033  0.05565471] yaw=-133.5deg
-[05/10 19:19:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:19:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:19:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=332.9ms, total=332.9ms
-[05/10 19:19:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.300, 0.056)
-[05/10 19:19:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg
-[05/10 19:19:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.866m
-[05/10 19:19:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:19:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:19:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:19:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:19:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:19:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 19:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 19:19:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:19:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:19:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 19:19:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.434s, found feasible grasp: True
-[05/10 19:19:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.396[m] 86.617[deg]
-[05/10 19:19:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:21:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:21:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:21:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
-[05/10 19:21:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True
-[05/10 19:21:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]
-[05/10 19:21:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:21:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:21:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:21:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
-[05/10 19:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.348s, found feasible grasp: True
-[05/10 19:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.901[deg]
-[05/10 19:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:22:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:22:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:23:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:23:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:23:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:23:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:23:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:23:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.77s (batch: 4.35s, save: 8.42s)
-[05/10 19:23:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
-  episode_total: mean=172.75s, total=345.50s, count=2, min=139174.7ms, max=206324.2ms
-  sensor_polling: mean=468.8ms, total=255.04s, count=544, min=381.4ms, max=950.5ms
-  physics_step: mean=23.0ms, total=12.53s, count=544, min=13.9ms, max=87.8ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.4ms, max=8422.4ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.3ms, max=4352.3ms
-  task_sampling: mean=515.6ms, total=1.03s, count=2, min=432.1ms, max=599.1ms
-  task_specific_sample: mean=512.2ms, total=1.02s, count=2, min=428.5ms, max=595.9ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=387.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:23:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:23:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:23:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 19:23:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:23:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:23:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067721m
-[05/10 19:23:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:23:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:23:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64056816  0.73729754  0.06772051] yaw=-157.1deg
-[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68970916  0.61275353  0.06772051] yaw=-181.3deg
-[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93497003  0.07258553  0.06772051] yaw=142.8deg
-[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:23:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:23:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.3ms, total=134.3ms
-[05/10 19:23:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.737, 0.068)
-[05/10 19:23:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg
-[05/10 19:23:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.092m
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:23:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:23:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:23:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 19:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 19:23:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:23:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:23:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:23:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True
-[05/10 19:23:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.638[m] 86.125[deg]
-[05/10 19:23:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:24:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:25:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:26:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:26:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:26:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:26:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:26:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:26:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.97s, save: 7.85s)
-[05/10 19:26:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
-  episode_total: mean=187.08s, total=187.08s, count=1, min=187076.0ms, max=187076.0ms
-  sensor_polling: mean=466.5ms, total=139.95s, count=300, min=391.8ms, max=992.5ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7847.1ms, max=7847.1ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=15.0ms, max=87.7ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.1ms, max=3973.1ms
-  task_sampling: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=396.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:26:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:26:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:26:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 19:26:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:26:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:26:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084559m
-[05/10 19:26:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:26:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:26:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68439439  0.66049262  0.08455925] yaw=-160.1deg
-[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69282558  0.16573699  0.08455925] yaw=167.9deg
-[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:26:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63432645  0.53209359  0.08455925] yaw=-181.8deg
-[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:26:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:26:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.0ms, total=86.1ms
-[05/10 19:26:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.660, 0.085)
-[05/10 19:26:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg
-[05/10 19:26:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:26:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:26:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 19:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 19:26:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:26:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:26:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 19:26:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True
-[05/10 19:26:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 92.453[deg]
-[05/10 19:26:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:27:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:27:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:27:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:29:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:29:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:29:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:29:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:29:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:29:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:29:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.66s (batch: 3.96s, save: 7.70s)
-[05/10 19:29:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
-  episode_total: mean=186.45s, total=186.45s, count=1, min=186450.9ms, max=186450.9ms
-  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=395.7ms, max=912.5ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7704.4ms, max=7704.4ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=13.7ms, max=74.6ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.8ms, max=3957.8ms
-  task_sampling: mean=346.5ms, total=346.5ms, count=1, min=346.5ms, max=346.5ms
-  task_specific_sample: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:29:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:29:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 19:29:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:29:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:29:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093853m
-[05/10 19:29:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:29:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:29:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69162751  0.25086776  0.0938531 ] yaw=155.7deg
-[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83569178  0.3727052   0.0938531 ] yaw=167.5deg
-[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:29:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773306  1.01352261  0.0938531 ] yaw=-150.0deg
-[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:29:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:29:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.3ms, total=79.3ms
-[05/10 19:29:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.251, 0.094)
-[05/10 19:29:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg
-[05/10 19:29:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:29:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 19:29:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 19:29:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:29:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:29:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:29:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
-[05/10 19:29:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.575[m] 87.300[deg]
-[05/10 19:29:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:31:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:31:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:31:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:31:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.438s, found feasible grasp: True
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.283[deg]
-[05/10 19:31:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:31:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:31:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:31:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:31:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:31:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:31:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps
-[05/10 19:31:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.525s, found feasible grasp: True
-[05/10 19:31:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.852[deg]
-[05/10 19:31:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:32:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:32:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 19:32:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:32:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:32:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps
-[05/10 19:32:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 4.927s, found feasible grasp: True
-[05/10 19:32:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.423[deg]
-[05/10 19:32:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:32:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
-[05/10 19:32:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=0.34s:
-  episode_total: mean=180.50s, total=180.50s, count=1, min=180499.0ms, max=180499.0ms
-  sensor_polling: mean=463.4ms, total=139.02s, count=300, min=389.6ms, max=911.3ms
-  physics_step: mean=20.7ms, total=6.20s, count=300, min=12.8ms, max=63.3ms
-  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
-  task_specific_sample: mean=331.6ms, total=331.6ms, count=1, min=331.6ms, max=331.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=900.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:32:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:32:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:32:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/10 19:32:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:32:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:32:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063536m
-[05/10 19:32:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:32:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:32:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:32:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69273936  0.53399501  0.063536  ] yaw=-169.5deg
-[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71076361  0.6084154   0.063536  ] yaw=-165.6deg
-[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8678396   0.32860855  0.063536  ] yaw=169.8deg
-[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:32:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:32:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.0ms, total=79.0ms
-[05/10 19:32:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.534, 0.064)
-[05/10 19:32:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg
-[05/10 19:32:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:32:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:32:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:32:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 19:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/10 19:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True
-[05/10 19:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 76.819[deg]
-[05/10 19:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:33:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:35:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:35:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:35:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
-[05/10 19:35:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:35:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:35:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:35:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.04s (batch: 3.53s, save: 9.51s)
-[05/10 19:35:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.32s:
-  episode_total: mean=180.17s, total=180.17s, count=1, min=180171.6ms, max=180171.6ms
-  sensor_polling: mean=436.4ms, total=130.92s, count=300, min=377.5ms, max=744.7ms
-  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.8ms, max=9510.8ms
-  physics_step: mean=20.4ms, total=6.11s, count=300, min=16.6ms, max=45.6ms
-  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.5ms, max=3532.5ms
-  task_sampling: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
-  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=434.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:35:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:35:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:35:43 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes
-[05/10 19:35:43 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4775.01s
-  House averages:
-  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
-  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
-  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
-  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
-  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
-  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
-  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:35:43 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 19:35:43 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4775.01s
-  Worker averages:
-  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
-  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
-  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
-  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
-  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
-  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
-  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
-  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
-  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
-  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
-  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
-  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
-  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
-  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
-  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
-  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:35:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 19:35:45 INFO pipeline.py:1491] Success count: 10, Total count: 11
-[05/10 19:35:45 INFO pipeline.py:1492] Success rate: 90.91%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
-==========================================
diff --git a/fridge_7/chunk_006/shard_2_of_4.log b/fridge_7/chunk_006/shard_2_of_4.log
deleted file mode 100644
index 35e4e009b2353a20f7489945b249c301921ebd2e..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_006/shard_2_of_4.log
+++ /dev/null
@@ -1,1786 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
-  shard=2/4  seed=20602  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:59 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 18:51:59 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 18:51:59 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 18:51:59 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73b67c57e110>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20602,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 18:51:59 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 18:51:59 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 127227603871248 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127227603871248 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 127227603871248 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127227603871248 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 127227604050960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127227604050960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127227604049424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127227604049424 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127227604049424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127227604049424 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127227604050960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127227604050960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127227603944720 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127227603944720 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127227603948432 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127227603948432 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 127227603948432 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127227603948432 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127227603944720 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127227603944720 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 18:51:59 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f057788ca90 at 0x73b67c8f1750>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f05778ba630 at 0x73b67c90f450>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f05778ba630 at 0x73b67c8e7250>
-[05/10 18:52:02 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055615m
-[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94246878  0.089583    0.05561463] yaw=159.6deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92372828  0.43183592  0.05561463] yaw=183.2deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9105508   0.05673009  0.05561463] yaw=157.6deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=23.1ms, retries=195.6ms, total=218.7ms
-[05/10 18:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.090, 0.056)
-[05/10 18:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg
-[05/10 18:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.111s
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 18:52:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 18:52:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.392[m] 77.575[deg]
-[05/10 18:52:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:53:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:53:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:54:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:54:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:54:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.269s, found feasible grasp: True
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.025[m] 2.888[deg]
-[05/10 18:54:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:54:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:54:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:54:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 18:54:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:54:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:54:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021496m
-[05/10 18:54:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:54:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:54:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80235789  0.17323678  0.02149578] yaw=150.5deg
-[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91774722  1.11084884  0.02149578] yaw=-141.9deg
-[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86021383  0.19889075  0.02149578] yaw=159.6deg
-[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:54:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:54:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms
-[05/10 18:54:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.173, 0.021)
-[05/10 18:54:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg
-[05/10 18:54:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:54:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:54:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.331[deg]
-[05/10 18:54:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:56:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:56:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:56:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:56:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 18:56:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True
-[05/10 18:56:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.896[deg]
-[05/10 18:56:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 18:57:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:57:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 18:57:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:57:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 18:57:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:57:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 4.18s, save: 7.79s)
-[05/10 18:57:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
-  episode_total: mean=165.75s, total=331.50s, count=2, min=152229.5ms, max=179268.1ms
-  sensor_polling: mean=434.9ms, total=227.90s, count=524, min=393.8ms, max=706.1ms
-  physics_step: mean=19.9ms, total=10.42s, count=524, min=13.2ms, max=29.4ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.9ms, max=7793.9ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.7ms, max=4181.7ms
-  task_sampling: mean=2.02s, total=4.05s, count=2, min=302.8ms, max=3742.5ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  task_specific_sample: mean=440.6ms, total=881.1ms, count=2, min=300.4ms, max=580.8ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.3ms, max=1.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=542.9us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:57:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:57:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:57:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 18:57:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:57:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:57:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008568m
-[05/10 18:57:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:57:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:57:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91943258  0.48870449  0.00856844] yaw=-179.2deg
-[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85290186  1.0952648   0.00856844] yaw=-155.5deg
-[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93435986  0.48934392  0.00856844] yaw=-176.1deg
-[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:57:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:57:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.3ms
-[05/10 18:57:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.489, 0.009)
-[05/10 18:57:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg
-[05/10 18:57:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.783m
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:57:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:57:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 18:57:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/10 18:57:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:57:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:57:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 18:57:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True
-[05/10 18:57:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.072[deg]
-[05/10 18:57:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:58:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:00:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:00:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:00:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:00:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 19:00:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:00:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:00:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.02s, save: 12.06s)
-[05/10 19:00:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
-  episode_total: mean=187.37s, total=187.37s, count=1, min=187372.2ms, max=187372.2ms
-  sensor_polling: mean=475.2ms, total=139.25s, count=293, min=400.7ms, max=902.2ms
-  save_trajectories: mean=12.06s, total=12.06s, count=1, min=12055.5ms, max=12055.5ms
-  physics_step: mean=22.1ms, total=6.47s, count=293, min=14.5ms, max=64.1ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.2ms, max=4017.2ms
-  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
-  task_specific_sample: mean=403.5ms, total=403.5ms, count=1, min=403.5ms, max=403.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:00:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:00:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:00:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 19:00:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:00:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:00:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027710m
-[05/10 19:00:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:00:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:00:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65948798  0.2565467   0.02770975] yaw=170.3deg
-[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:00:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92026484  0.62559611  0.02770975] yaw=-170.2deg
-[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72016453  0.44481558  0.02770975] yaw=174.3deg
-[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:00:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:00:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.2ms, total=77.2ms
-[05/10 19:00:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.257, 0.028)
-[05/10 19:00:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg
-[05/10 19:00:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:00:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:00:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:00:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 19:00:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:00:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:00:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:00:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True
-[05/10 19:00:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.651[m] 95.882[deg]
-[05/10 19:00:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:03:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:03:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:03:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:03:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:03:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:03:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:03:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.75s (batch: 4.64s, save: 10.11s)
-[05/10 19:03:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.33s:
-  episode_total: mean=184.85s, total=184.85s, count=1, min=184852.2ms, max=184852.2ms
-  sensor_polling: mean=456.6ms, total=136.98s, count=300, min=384.6ms, max=739.9ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10105.0ms, max=10105.0ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=13.5ms, max=78.4ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4643.0ms, max=4643.0ms
-  task_sampling: mean=328.0ms, total=328.0ms, count=1, min=328.0ms, max=328.0ms
-  task_specific_sample: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=484.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:03:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:03:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:03:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 19:03:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:03:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:03:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007985m
-[05/10 19:03:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:03:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:03:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74347965  0.15783587  0.00798453] yaw=170.2deg
-[05/10 19:03:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:03:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67899164  0.40389617  0.00798453] yaw=185.4deg
-[05/10 19:03:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:03:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0314048   1.06181573  0.00798453] yaw=-145.8deg
-[05/10 19:03:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:03:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:03:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms
-[05/10 19:03:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.158, 0.008)
-[05/10 19:03:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg
-[05/10 19:03:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
-[05/10 19:03:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:03:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:03:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 19:03:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 19:03:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.516s, found feasible grasp: True
-[05/10 19:03:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.312[deg]
-[05/10 19:03:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:04:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:04:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:06:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:06:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:06:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:06:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:06:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:06:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:06:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.58s (batch: 4.65s, save: 8.92s)
-[05/10 19:06:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
-  episode_total: mean=185.12s, total=185.12s, count=1, min=185123.4ms, max=185123.4ms
-  sensor_polling: mean=457.2ms, total=137.15s, count=300, min=376.7ms, max=747.5ms
-  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8924.7ms, max=8924.7ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.0ms, max=56.4ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.5ms, max=4651.5ms
-  task_sampling: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
-  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:06:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 19:06:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074251m
-[05/10 19:06:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89610773  0.43011314  0.07425114] yaw=182.1deg
-[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68564026  0.28016863  0.07425114] yaw=161.6deg
-[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76316685 -0.02901475  0.07425114] yaw=156.1deg
-[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms
-[05/10 19:06:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.430, 0.074)
-[05/10 19:06:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 182.1 deg
-[05/10 19:06:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.808m
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 19:06:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 19:06:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
-[05/10 19:06:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 103.346[deg]
-[05/10 19:06:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:09:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:09:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:09:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:09:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:10:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:10:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:10:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.95s (batch: 4.69s, save: 11.26s)
-[05/10 19:10:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
-  episode_total: mean=188.05s, total=188.05s, count=1, min=188049.3ms, max=188049.3ms
-  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=382.3ms, max=849.7ms
-  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11261.4ms, max=11261.4ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.7ms, max=74.2ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4689.4ms, max=4689.4ms
-  task_sampling: mean=395.5ms, total=395.5ms, count=1, min=395.5ms, max=395.5ms
-  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=522.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:10:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:10:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:10:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 19:10:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:10:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:10:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m
-[05/10 19:10:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:10:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:10:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93175871  0.6391646   0.03486101] yaw=-158.4deg
-[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85008075  0.09837553  0.03486101] yaw=144.6deg
-[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:10:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99360456  0.90140209  0.03486101] yaw=-149.2deg
-[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:10:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:10:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms
-[05/10 19:10:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.639, 0.035)
-[05/10 19:10:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
-[05/10 19:10:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:10:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:10:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:10:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 19:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 19:10:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:10:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:10:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:10:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
-[05/10 19:10:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.302[m] 76.391[deg]
-[05/10 19:10:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:10:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:12:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:12:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:12:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:12:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
-[05/10 19:12:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:12:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:12:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.03s (batch: 3.71s, save: 8.32s)
-[05/10 19:13:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.39s:
-  episode_total: mean=174.04s, total=174.04s, count=1, min=174038.7ms, max=174038.7ms
-  sensor_polling: mean=465.3ms, total=130.29s, count=280, min=403.9ms, max=811.7ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8321.5ms, max=8321.5ms
-  physics_step: mean=21.6ms, total=6.06s, count=280, min=13.4ms, max=50.3ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.5ms, max=3705.5ms
-  task_sampling: mean=388.8ms, total=388.8ms, count=1, min=388.8ms, max=388.8ms
-  task_specific_sample: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:13:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:13:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:13:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:13:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:13:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:13:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:13:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 19:13:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:13:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:13:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087099m
-[05/10 19:13:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:13:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:13:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87930123  0.16866367  0.087099  ] yaw=169.8deg
-[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77818913  0.68164191  0.087099  ] yaw=-158.8deg
-[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73513428  0.83167668  0.087099  ] yaw=-152.3deg
-[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:13:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:13:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms
-[05/10 19:13:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.169, 0.087)
-[05/10 19:13:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
-[05/10 19:13:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.881m
-[05/10 19:13:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:13:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:13:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:13:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:13:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:13:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 19:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.114s
-[05/10 19:13:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:13:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:13:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
-[05/10 19:13:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.271s, found feasible grasp: True
-[05/10 19:13:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.437[m] 87.577[deg]
-[05/10 19:13:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:15:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:15:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:15:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:15:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
-[05/10 19:15:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.803s, found feasible grasp: True
-[05/10 19:15:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.683[deg]
-[05/10 19:15:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:15:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:15:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 19:15:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:15:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:15:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013906m
-[05/10 19:15:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:15:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:15:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79111073  0.41280059  0.01390552] yaw=179.5deg
-[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05063276  1.00761634  0.01390552] yaw=-135.5deg
-[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6477955   0.41617399  0.01390552] yaw=178.4deg
-[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:15:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:15:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.2ms, total=338.2ms
-[05/10 19:15:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.413, 0.014)
-[05/10 19:15:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg
-[05/10 19:15:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:15:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 19:15:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 19:15:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:15:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:15:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 19:15:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
-[05/10 19:15:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.482[m] 95.894[deg]
-[05/10 19:15:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:15:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:15:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:16:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:16:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:16:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:17:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:18:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:18:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:18:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.24s (batch: 3.92s, save: 11.32s)
-[05/10 19:18:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.06s:
-  episode_total: mean=157.01s, total=314.03s, count=2, min=126440.7ms, max=187587.7ms
-  sensor_polling: mean=460.0ms, total=239.18s, count=520, min=380.0ms, max=803.1ms
-  physics_step: mean=22.9ms, total=11.90s, count=520, min=14.0ms, max=97.8ms
-  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.5ms, max=11320.5ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.0ms, max=3920.0ms
-  task_sampling: mean=531.1ms, total=1.06s, count=2, min=458.1ms, max=604.0ms
-  task_specific_sample: mean=525.5ms, total=1.05s, count=2, min=450.4ms, max=600.6ms
-  mj_forward_sync: mean=2.5ms, total=5.0ms, count=2, min=0.5ms, max=4.5ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.6ms, max=2.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:18:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:18:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:18:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 19:18:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:18:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:18:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061247m
-[05/10 19:18:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:18:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:18:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13202517  1.19086047  0.06124704] yaw=-130.4deg
-[05/10 19:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87770832  1.00261835  0.06124704] yaw=-143.0deg
-[05/10 19:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:18:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:18:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms
-[05/10 19:18:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.191, 0.061)
-[05/10 19:18:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg
-[05/10 19:18:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:18:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:18:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 19:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 19:18:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:18:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:18:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 19:18:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.786s, found feasible grasp: True
-[05/10 19:18:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.469[m] 80.068[deg]
-[05/10 19:18:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:20:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:20:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:20:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/10 19:20:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.420s, found feasible grasp: True
-[05/10 19:20:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 0.653[deg]
-[05/10 19:20:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:20:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:20:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:20:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 19:20:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:20:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:20:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093094m
-[05/10 19:20:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:20:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:20:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:20:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62344828  0.3867221   0.09309448] yaw=180.5deg
-[05/10 19:20:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:20:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88076545  0.39731517  0.09309448] yaw=168.0deg
-[05/10 19:20:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:20:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:20:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms
-[05/10 19:20:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.623, 0.387, 0.093)
-[05/10 19:20:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg
-[05/10 19:20:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:20:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 19:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 19:20:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:20:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:20:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:20:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True
-[05/10 19:20:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.615[m] 83.644[deg]
-[05/10 19:20:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:23:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:23:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:23:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:23:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:23:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:23:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:23:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.24s (batch: 4.01s, save: 7.23s)
-[05/10 19:23:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.06s:
-  episode_total: mean=161.45s, total=322.91s, count=2, min=129955.9ms, max=192949.6ms
-  sensor_polling: mean=467.6ms, total=247.34s, count=529, min=393.1ms, max=962.6ms
-  physics_step: mean=22.8ms, total=12.08s, count=529, min=14.0ms, max=66.7ms
-  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7231.4ms, max=7231.4ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.8ms, max=4012.8ms
-  task_sampling: mean=529.2ms, total=1.06s, count=2, min=389.2ms, max=669.3ms
-  task_specific_sample: mean=525.3ms, total=1.05s, count=2, min=385.7ms, max=664.9ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.8ms, max=2.9ms
-  mj_forward_sync: mean=485.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:23:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:23:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:23:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 19:23:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:23:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:23:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078231m
-[05/10 19:23:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:23:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:23:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68642908  0.25178267  0.07823135] yaw=165.8deg
-[05/10 19:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:23:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:23:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.7ms
-[05/10 19:23:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.252, 0.078)
-[05/10 19:23:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg
-[05/10 19:23:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:23:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:23:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 19:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 19:23:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:23:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:23:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:23:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True
-[05/10 19:23:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 83.747[deg]
-[05/10 19:23:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:24:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:26:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:26:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:26:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:26:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.08s (batch: 3.86s, save: 7.22s)
-[05/10 19:26:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=185.70s, total=185.70s, count=1, min=185704.7ms, max=185704.7ms
-  sensor_polling: mean=469.9ms, total=140.97s, count=300, min=403.2ms, max=817.1ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7222.5ms, max=7222.5ms
-  physics_step: mean=23.7ms, total=7.10s, count=300, min=14.1ms, max=65.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.1ms, max=3859.1ms
-  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
-  task_specific_sample: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:26:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:26:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:26:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 19:26:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:26:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:26:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004976m
-[05/10 19:26:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:26:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:26:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87568378  0.38910765  0.00497556] yaw=165.7deg
-[05/10 19:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90456046  0.27846351  0.00497556] yaw=157.7deg
-[05/10 19:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85313987  0.88206703  0.00497556] yaw=-161.2deg
-[05/10 19:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:26:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:26:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.6ms
-[05/10 19:26:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.389, 0.005)
-[05/10 19:26:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.7 deg
-[05/10 19:26:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.832m
-[05/10 19:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:26:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 19:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 19:26:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:26:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:26:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:26:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True
-[05/10 19:26:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.031[deg]
-[05/10 19:26:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:26:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:26:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:27:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:29:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:29:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:29:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:29:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 19:29:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:29:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:29:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.39s (batch: 3.74s, save: 7.65s)
-[05/10 19:29:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
-  episode_total: mean=184.50s, total=184.50s, count=1, min=184498.4ms, max=184498.4ms
-  sensor_polling: mean=474.6ms, total=140.95s, count=297, min=396.0ms, max=942.0ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7648.5ms, max=7648.5ms
-  physics_step: mean=24.1ms, total=7.15s, count=297, min=14.4ms, max=71.9ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.4ms, max=3740.4ms
-  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:29:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:29:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:29:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 19:29:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:29:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:29:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044237m
-[05/10 19:29:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:29:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:29:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77728585  1.01553904  0.04423693] yaw=-143.8deg
-[05/10 19:29:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74261267 -0.01483249  0.04423693] yaw=161.0deg
-[05/10 19:29:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83681365  0.44966757  0.04423693] yaw=186.0deg
-[05/10 19:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:29:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:29:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms
-[05/10 19:29:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 1.016, 0.044)
-[05/10 19:29:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg
-[05/10 19:29:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.068m
-[05/10 19:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:29:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 19:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 19:29:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:29:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:29:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:30:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True
-[05/10 19:30:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.625[m] 83.605[deg]
-[05/10 19:30:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:31:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:31:17 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 19:31:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:31:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:31:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:31:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
-[05/10 19:31:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True
-[05/10 19:31:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.555[deg]
-[05/10 19:31:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:31:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:32:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:32:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:32:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:32:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:33:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:33:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:33:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 3.62s, save: 7.27s)
-[05/10 19:33:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
-  episode_total: mean=183.52s, total=183.52s, count=1, min=183520.6ms, max=183520.6ms
-  sensor_polling: mean=454.2ms, total=136.27s, count=300, min=377.6ms, max=814.2ms
-  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7274.7ms, max=7274.7ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.0ms, max=88.5ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
-  task_sampling: mean=440.2ms, total=440.2ms, count=1, min=440.2ms, max=440.2ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=387.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:33:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:33:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:33:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 19:33:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:33:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:33:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008178m
-[05/10 19:33:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:33:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:33:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92590871  0.1942485   0.00817809] yaw=149.1deg
-[05/10 19:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:33:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:33:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84026272  1.1045823   0.00817809] yaw=-153.1deg
-[05/10 19:33:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:33:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:33:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms
-[05/10 19:33:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.194, 0.008)
-[05/10 19:33:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg
-[05/10 19:33:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
-[05/10 19:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:33:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:33:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 19:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 19:33:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:33:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:33:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/10 19:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.446[m] 101.366[deg]
-[05/10 19:33:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:34:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:34:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:35:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:35:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:35:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:35:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:35:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:35:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/10 19:35:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True
-[05/10 19:35:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.167[deg]
-[05/10 19:35:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:35:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:35:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:35:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:35:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:35:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:35:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:35:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:35:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/10 19:35:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.294s, found feasible grasp: True
-[05/10 19:35:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.798[deg]
-[05/10 19:35:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:35:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:35:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:35:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 19:35:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:35:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:35:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003173m
-[05/10 19:35:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:35:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:35:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65650312  0.58178795  0.00317297] yaw=-175.8deg
-[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15908393  1.12544063  0.00317297] yaw=-129.3deg
-[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94585061  0.73314711  0.00317297] yaw=-152.3deg
-[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:35:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:35:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms
-[05/10 19:35:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.582, 0.003)
-[05/10 19:35:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg
-[05/10 19:35:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:35:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:35:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:35:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 19:35:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 19:35:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:35:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:35:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:35:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True
-[05/10 19:35:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.665[m] 100.851[deg]
-[05/10 19:35:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:36:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:37:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:37:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:38:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:38:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:38:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.22s (batch: 4.18s, save: 8.04s)
-[05/10 19:38:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.76s:
-  episode_total: mean=169.87s, total=339.74s, count=2, min=167572.7ms, max=172164.5ms
-  sensor_polling: mean=431.5ms, total=252.85s, count=586, min=366.2ms, max=754.1ms
-  physics_step: mean=20.6ms, total=12.08s, count=586, min=13.5ms, max=72.6ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.0ms, max=4179.0ms
-  task_sampling: mean=381.6ms, total=763.2ms, count=2, min=336.6ms, max=426.5ms
-  task_specific_sample: mean=378.5ms, total=756.9ms, count=2, min=333.7ms, max=423.3ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
-  mj_forward_sync: mean=380.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:38:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:38:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:38:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 19:38:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:38:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:38:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096185m
-[05/10 19:38:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:38:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:38:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94717367  1.00513883  0.09618465] yaw=-137.5deg
-[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73158962  0.75436254  0.09618465] yaw=-164.5deg
-[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88830634  0.50885158  0.09618465] yaw=-175.7deg
-[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:38:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:38:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.9ms
-[05/10 19:38:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.005, 0.096)
-[05/10 19:38:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg
-[05/10 19:38:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:38:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:38:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 19:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 19:38:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:38:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:38:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 19:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.093s, found feasible grasp: True
-[05/10 19:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.517[m] 93.558[deg]
-[05/10 19:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:40:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:41:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:41:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
-[05/10 19:41:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:41:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:41:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:41:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.69s (batch: 3.39s, save: 8.29s)
-[05/10 19:41:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.34s:
-  episode_total: mean=167.50s, total=167.50s, count=1, min=167503.8ms, max=167503.8ms
-  sensor_polling: mean=398.0ms, total=119.40s, count=300, min=350.4ms, max=679.0ms
-  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8292.4ms, max=8292.4ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=45.7ms
-  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.6ms, max=3392.6ms
-  task_sampling: mean=337.3ms, total=337.3ms, count=1, min=337.3ms, max=337.3ms
-  task_specific_sample: mean=333.8ms, total=333.8ms, count=1, min=333.8ms, max=333.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:41:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:41:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:41:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 19:41:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:41:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:41:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012397m
-[05/10 19:41:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:41:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:41:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:41:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6527861   0.23027289  0.01239709] yaw=174.3deg
-[05/10 19:41:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:41:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:41:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms
-[05/10 19:41:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.230, 0.012)
-[05/10 19:41:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg
-[05/10 19:41:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:41:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:41:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:41:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 19:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 19:41:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:41:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:41:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:41:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True
-[05/10 19:41:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.650[m] 90.020[deg]
-[05/10 19:41:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:43:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:43:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:43:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/10 19:43:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.449s, found feasible grasp: True
-[05/10 19:43:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.279[deg]
-[05/10 19:43:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:43:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:43:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:43:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:44:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False
-[05/10 19:44:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.44s:
-  episode_total: mean=160.96s, total=160.96s, count=1, min=160957.4ms, max=160957.4ms
-  sensor_polling: mean=419.6ms, total=125.88s, count=300, min=360.1ms, max=714.5ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=14.9ms, max=43.5ms
-  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
-  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=489.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:44:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:44:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:44:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/14 successful episodes
-[05/10 19:44:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5728.14s
-  House averages:
-  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
-  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
-  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
-  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
-  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
-  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
-  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:44:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 19:44:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5728.14s
-  Worker averages:
-  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
-  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
-  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
-  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
-  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
-  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
-  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
-  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
-  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
-  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
-  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
-  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
-  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
-  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
-  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
-  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:44:21 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 19:44:21 INFO pipeline.py:1491] Success count: 13, Total count: 14
-[05/10 19:44:21 INFO pipeline.py:1492] Success rate: 92.86%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
-==========================================
diff --git a/fridge_7/chunk_006/shard_3_of_4.log b/fridge_7/chunk_006/shard_3_of_4.log
deleted file mode 100644
index 320ee42fc30bf52feb4e43dc01b7a42a895b5150..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_006/shard_3_of_4.log
+++ /dev/null
@@ -1,1726 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
-  shard=3/4  seed=20603  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:58 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 18:51:58 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 18:51:58 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 18:51:58 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7540bf3a7f10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20603,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 18:51:58 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 18:51:58 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 128920941646480 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128920941646480 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 128920941646480 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128920941646480 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 128920942631504 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128920942631504 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128920942631312 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128920942631312 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128920942631312 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128920942631312 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128920942631504 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128920942631504 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128920941683536 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128920941683536 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128920941678288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128920941678288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 128920941678288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128920941678288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128920941683536 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128920941683536 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 18:51:59 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60eb575e9e70 at 0x7540bf7b7f10>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60eb575eb730 at 0x7540bf7c7610>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60eb575eb730 at 0x7540bf74dd90>
-[05/10 18:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 18:52:01 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081495m
-[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83469819  0.11393273  0.08149534] yaw=160.0deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71563594  0.91335377  0.08149534] yaw=-145.2deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83702882  0.90066737  0.08149534] yaw=-151.6deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:52:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:52:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.7ms, retries=147.1ms, total=158.8ms
-[05/10 18:52:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.114, 0.081)
-[05/10 18:52:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.0 deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:52:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.331s
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True
-[05/10 18:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.455[m] 79.031[deg]
-[05/10 18:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:53:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:53:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:53:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.329s, found feasible grasp: True
-[05/10 18:54:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.632[deg]
-[05/10 18:54:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 18:54:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:54:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:54:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 18:54:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:54:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:54:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088962m
-[05/10 18:54:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:54:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:54:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07447279  0.96848679  0.08896172] yaw=-141.1deg
-[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04027818  1.12042477  0.08896172] yaw=-128.1deg
-[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73082784  0.32557111  0.08896172] yaw=173.8deg
-[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:54:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:54:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms
-[05/10 18:54:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.968, 0.089)
-[05/10 18:54:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg
-[05/10 18:54:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:54:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:54:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:54:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 18:54:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True
-[05/10 18:54:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.348[m] 90.791[deg]
-[05/10 18:54:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:56:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 18:57:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:57:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 18:57:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 18:57:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 18:57:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:57:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.25s (batch: 3.64s, save: 7.61s)
-[05/10 18:57:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.01s:
-  episode_total: mean=161.34s, total=322.68s, count=2, min=153925.5ms, max=168751.2ms
-  sensor_polling: mean=427.5ms, total=231.27s, count=541, min=390.8ms, max=670.2ms
-  physics_step: mean=19.4ms, total=10.48s, count=541, min=14.2ms, max=29.0ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7611.1ms, max=7611.1ms
-  task_sampling: mean=2.00s, total=4.01s, count=2, min=331.1ms, max=3676.5ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.4ms, max=3635.4ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  task_specific_sample: mean=470.6ms, total=941.1ms, count=2, min=328.8ms, max=612.4ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=373.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:57:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:57:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:57:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/10 18:57:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:57:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:57:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029144m
-[05/10 18:57:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:57:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:57:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0575382   1.04569979  0.02914364] yaw=-146.1deg
-[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87992433  0.88248525  0.02914364] yaw=-162.0deg
-[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9149309   1.21049527  0.02914364] yaw=-128.6deg
-[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:57:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:57:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms
-[05/10 18:57:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.046, 0.029)
-[05/10 18:57:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
-[05/10 18:57:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:57:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:57:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:57:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 18:57:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
-[05/10 18:57:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:57:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:57:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 18:57:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True
-[05/10 18:57:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.955[deg]
-[05/10 18:57:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:57:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:57:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:59:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:59:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:59:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
-[05/10 18:59:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.605s, found feasible grasp: True
-[05/10 18:59:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.293[deg]
-[05/10 18:59:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:00:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:00:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:00:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 19:00:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:00:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:00:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070481m
-[05/10 19:00:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:00:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:00:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6925216   0.5061356   0.07048102] yaw=-188.1deg
-[05/10 19:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90353355  0.67384229  0.07048102] yaw=-173.7deg
-[05/10 19:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:00:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:00:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.1ms
-[05/10 19:00:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.506, 0.070)
-[05/10 19:00:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg
-[05/10 19:00:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:00:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:00:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
-[05/10 19:00:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:00:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:00:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps
-[05/10 19:00:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.048s, found feasible grasp: True
-[05/10 19:00:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 90.669[deg]
-[05/10 19:00:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:00:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:01:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:02:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:02:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:02:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:02:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.42s (batch: 4.08s, save: 10.34s)
-[05/10 19:03:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.86s:
-  episode_total: mean=170.35s, total=340.70s, count=2, min=153475.4ms, max=187223.9ms
-  sensor_polling: mean=453.7ms, total=264.08s, count=582, min=386.5ms, max=938.1ms
-  physics_step: mean=21.5ms, total=12.54s, count=582, min=13.4ms, max=67.3ms
-  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10338.8ms, max=10338.8ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4077.0ms, max=4077.0ms
-  task_sampling: mean=431.2ms, total=862.5ms, count=2, min=350.1ms, max=512.4ms
-  task_specific_sample: mean=427.6ms, total=855.3ms, count=2, min=346.2ms, max=509.0ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
-  mj_forward_sync: mean=440.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 19:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006831m
-[05/10 19:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90131698  0.57054516  0.00683104] yaw=-168.7deg
-[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12396136  1.12706501  0.00683104] yaw=-121.1deg
-[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14496754  1.1188614   0.00683104] yaw=-137.6deg
-[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.4ms, total=272.5ms
-[05/10 19:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.571, 0.007)
-[05/10 19:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
-[05/10 19:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 19:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 19:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True
-[05/10 19:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 88.202[deg]
-[05/10 19:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:05:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:05:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:05:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:05:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 19:06:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:06:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:06:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.25s (batch: 3.86s, save: 11.39s)
-[05/10 19:06:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
-  episode_total: mean=183.76s, total=183.76s, count=1, min=183759.0ms, max=183759.0ms
-  sensor_polling: mean=463.6ms, total=135.83s, count=293, min=396.5ms, max=735.1ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.7ms, max=11393.7ms
-  physics_step: mean=21.5ms, total=6.30s, count=293, min=16.5ms, max=63.1ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.3ms, max=3857.3ms
-  task_sampling: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms
-  task_specific_sample: mean=525.9ms, total=525.9ms, count=1, min=525.9ms, max=525.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=594.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:06:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/10 19:06:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046622m
-[05/10 19:06:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75807543  0.89876004  0.04662154] yaw=-151.2deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68685243  0.48096134  0.04662154] yaw=172.9deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98828512  0.156259    0.04662154] yaw=146.9deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.5ms, total=242.5ms
-[05/10 19:06:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.899, 0.047)
-[05/10 19:06:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg
-[05/10 19:06:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:06:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True
-[05/10 19:06:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.627[m] 84.918[deg]
-[05/10 19:06:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:06:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 19:06:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063249m
-[05/10 19:06:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91031426  0.89475763  0.06324946] yaw=-148.2deg
-[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74657931  0.29955688  0.06324946] yaw=173.1deg
-[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10523343  1.21377645  0.06324946] yaw=-117.9deg
-[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms
-[05/10 19:06:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.895, 0.063)
-[05/10 19:06:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
-[05/10 19:06:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 19:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 19:06:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 19:06:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True
-[05/10 19:06:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.496[deg]
-[05/10 19:06:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:08:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:09:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:09:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:09:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:09:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:09:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:09:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.37s (batch: 3.57s, save: 9.80s)
-[05/10 19:09:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.15s:
-  episode_total: mean=92.57s, total=185.15s, count=2, min=3369.0ms, max=181778.7ms
-  sensor_polling: mean=451.8ms, total=135.53s, count=300, min=389.8ms, max=827.2ms
-  save_trajectories: mean=9.80s, total=9.80s, count=1, min=9802.8ms, max=9802.8ms
-  physics_step: mean=20.5ms, total=6.14s, count=300, min=16.6ms, max=51.4ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.1ms, max=3571.1ms
-  task_sampling: mean=572.8ms, total=1.15s, count=2, min=484.2ms, max=661.5ms
-  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=481.6ms, max=658.1ms
-  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=366.8us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:09:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:09:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 19:09:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:09:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:09:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048223m
-[05/10 19:09:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:09:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:09:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94346397  1.20337296  0.04822252] yaw=-137.3deg
-[05/10 19:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89964057  0.6975012   0.04822252] yaw=-170.2deg
-[05/10 19:09:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:09:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69020021  0.75385263  0.04822252] yaw=-157.5deg
-[05/10 19:09:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:09:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:09:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.7ms, total=404.8ms
-[05/10 19:09:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.203, 0.048)
-[05/10 19:09:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
-[05/10 19:09:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.047m
-[05/10 19:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:09:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 19:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s
-[05/10 19:09:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:09:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:09:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 19:09:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.250s, found feasible grasp: True
-[05/10 19:09:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.623[m] 90.238[deg]
-[05/10 19:09:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:09:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:09:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 19:09:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:09:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:09:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082278m
-[05/10 19:09:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:09:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:09:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03936046  0.95452202  0.08227833] yaw=-153.0deg
-[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92731733  0.15048     0.08227833] yaw=165.4deg
-[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.794161    0.79167249  0.08227833] yaw=-168.6deg
-[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:09:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:09:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.7ms
-[05/10 19:09:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.955, 0.082)
-[05/10 19:09:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
-[05/10 19:09:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:09:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 19:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 19:09:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:09:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:09:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:09:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
-[05/10 19:09:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 87.368[deg]
-[05/10 19:09:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:11:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:12:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:12:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:12:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:12:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:12:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:12:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.26s (batch: 4.02s, save: 11.23s)
-[05/10 19:12:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.13s:
-  episode_total: mean=94.92s, total=189.83s, count=2, min=4534.5ms, max=185299.0ms
-  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=397.2ms, max=1061.9ms
-  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11233.4ms, max=11233.4ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=55.3ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms
-  task_sampling: mean=567.5ms, total=1.13s, count=2, min=370.1ms, max=764.8ms
-  task_specific_sample: mean=563.8ms, total=1.13s, count=2, min=367.4ms, max=760.3ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
-  mj_forward_sync: mean=495.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:12:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:12:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:12:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 19:12:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:12:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:12:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084899m
-[05/10 19:12:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:12:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:12:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93815121  0.53433215  0.08489949] yaw=-176.6deg
-[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78568417  0.90194166  0.08489949] yaw=-165.7deg
-[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79285745  0.468084    0.08489949] yaw=182.5deg
-[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:12:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:12:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms
-[05/10 19:12:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.534, 0.085)
-[05/10 19:12:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg
-[05/10 19:12:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:12:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:12:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:12:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 19:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 19:12:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:12:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:12:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 19:12:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True
-[05/10 19:12:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.311[m] 85.298[deg]
-[05/10 19:12:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:13:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:15:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:15:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:15:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:15:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps
-[05/10 19:15:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:15:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:15:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.17s (batch: 3.69s, save: 8.48s)
-[05/10 19:15:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
-  episode_total: mean=179.47s, total=179.47s, count=1, min=179469.8ms, max=179469.8ms
-  sensor_polling: mean=460.0ms, total=130.19s, count=283, min=388.9ms, max=713.7ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8479.4ms, max=8479.4ms
-  physics_step: mean=21.2ms, total=5.99s, count=283, min=13.6ms, max=48.3ms
-  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3693.6ms, max=3693.6ms
-  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
-  task_specific_sample: mean=358.5ms, total=358.5ms, count=1, min=358.5ms, max=358.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:15:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:15:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:15:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 19:15:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:15:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:15:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087474m
-[05/10 19:15:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:15:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00903823  1.33425582  0.08747381] yaw=-129.3deg
-[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87235157  0.47878457  0.08747381] yaw=176.9deg
-[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97659762  0.16095397  0.08747381] yaw=153.3deg
-[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms
-[05/10 19:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.334, 0.087)
-[05/10 19:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg
-[05/10 19:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 19:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:15:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 19:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.133s
-[05/10 19:15:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:15:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:15:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps
-[05/10 19:15:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.097s, found feasible grasp: False
-[05/10 19:15:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 19:15:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:15:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:15:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 19:15:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:15:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:15:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078773m
-[05/10 19:15:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:15:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:15:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78625291  0.39804339  0.0787727 ] yaw=169.6deg
-[05/10 19:15:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87345999  0.71966789  0.0787727 ] yaw=-159.4deg
-[05/10 19:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96640995  0.84121504  0.0787727 ] yaw=-143.0deg
-[05/10 19:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:15:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:15:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=681.8ms, total=681.8ms
-[05/10 19:15:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.398, 0.079)
-[05/10 19:15:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
-[05/10 19:15:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
-[05/10 19:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:15:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:15:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 19:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 19:15:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:15:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:15:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 19:15:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.295s, found feasible grasp: True
-[05/10 19:15:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.471[m] 85.788[deg]
-[05/10 19:15:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:16:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:17:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:17:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:17:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:17:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/10 19:17:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True
-[05/10 19:17:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.213[deg]
-[05/10 19:17:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:18:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:19:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:19:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:19:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:19:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:19:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:19:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.16s (batch: 3.87s, save: 8.29s)
-[05/10 19:19:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.44s:
-  episode_total: mean=108.08s, total=216.16s, count=2, min=3836.4ms, max=212319.3ms
-  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=391.9ms, max=1037.0ms
-  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8288.1ms, max=8288.1ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.6ms, max=89.4ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.4ms, max=3872.4ms
-  task_sampling: mean=720.6ms, total=1.44s, count=2, min=460.1ms, max=981.1ms
-  task_specific_sample: mean=716.3ms, total=1.43s, count=2, min=456.2ms, max=976.5ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
-  mj_forward_sync: mean=585.8us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:19:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:19:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:19:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 19:19:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:19:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:19:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036768m
-[05/10 19:19:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:19:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:19:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7481991   0.68244235  0.03676838] yaw=-179.5deg
-[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81006446  0.47823023  0.03676838] yaw=186.5deg
-[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84978367  0.92646938  0.03676838] yaw=-151.3deg
-[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:19:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:19:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.4ms
-[05/10 19:19:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.682, 0.037)
-[05/10 19:19:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg
-[05/10 19:19:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:19:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:19:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 19:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/10 19:19:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:19:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:19:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:19:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True
-[05/10 19:19:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.521[m] 85.868[deg]
-[05/10 19:19:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:21:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:22:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:22:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:22:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:22:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:22:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:22:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.06s (batch: 4.01s, save: 8.04s)
-[05/10 19:22:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
-  episode_total: mean=191.83s, total=191.83s, count=1, min=191830.8ms, max=191830.8ms
-  sensor_polling: mean=467.7ms, total=140.31s, count=300, min=389.6ms, max=715.3ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.4ms, max=56.1ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.2ms, max=4012.2ms
-  task_sampling: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
-  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:22:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:22:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:22:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 19:22:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:22:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:22:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054017m
-[05/10 19:22:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:22:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:22:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14960527  1.13573657  0.05401719] yaw=-131.9deg
-[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83490367  0.64903022  0.05401719] yaw=-179.5deg
-[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95235789  0.43459283  0.05401719] yaw=169.8deg
-[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:22:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:22:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms
-[05/10 19:22:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.150, 1.136, 0.054)
-[05/10 19:22:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
-[05/10 19:22:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:22:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:22:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 19:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
-[05/10 19:22:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:22:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:22:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 19:22:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.107s, found feasible grasp: True
-[05/10 19:22:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.457[m] 80.686[deg]
-[05/10 19:22:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:24:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:24:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:24:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:24:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 19:24:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.571s, found feasible grasp: True
-[05/10 19:24:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.058[m] 9.513[deg]
-[05/10 19:24:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:24:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:24:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:24:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 19:24:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:24:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:24:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081956m
-[05/10 19:24:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:24:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:24:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:24:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94771017  0.86759464  0.08195639] yaw=-159.4deg
-[05/10 19:24:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:24:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80261569  0.08894499  0.08195639] yaw=163.5deg
-[05/10 19:24:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:24:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:24:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=487.8ms, total=487.8ms
-[05/10 19:24:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.868, 0.082)
-[05/10 19:24:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg
-[05/10 19:24:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
-[05/10 19:24:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:24:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:24:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:24:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:24:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:24:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 19:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 19:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
-[05/10 19:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 86.665[deg]
-[05/10 19:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:27:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:27:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:27:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:27:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:28:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:28:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:28:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.88s (batch: 3.81s, save: 8.07s)
-[05/10 19:28:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.18s:
-  episode_total: mean=164.93s, total=329.86s, count=2, min=142597.9ms, max=187265.4ms
-  sensor_polling: mean=458.1ms, total=254.72s, count=556, min=387.7ms, max=858.6ms
-  physics_step: mean=21.6ms, total=12.02s, count=556, min=16.6ms, max=61.4ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8066.0ms, max=8066.0ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3810.1ms, max=3810.1ms
-  task_sampling: mean=591.0ms, total=1.18s, count=2, min=445.3ms, max=736.8ms
-  task_specific_sample: mean=587.6ms, total=1.18s, count=2, min=441.2ms, max=733.9ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:28:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:28:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:28:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 19:28:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:28:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:28:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074360m
-[05/10 19:28:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:28:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:28:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69299864  0.69619572  0.0743603 ] yaw=-168.6deg
-[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85618463  0.58282715  0.0743603 ] yaw=-165.9deg
-[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02230848  0.84498051  0.0743603 ] yaw=-157.9deg
-[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:28:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:28:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms
-[05/10 19:28:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.696, 0.074)
-[05/10 19:28:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg
-[05/10 19:28:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:28:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:28:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 19:28:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 19:28:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:28:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:28:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 19:28:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True
-[05/10 19:28:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.592[m] 88.347[deg]
-[05/10 19:28:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:29:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:30:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:31:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:31:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:31:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:31:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:31:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:31:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.53s (batch: 3.86s, save: 7.67s)
-[05/10 19:31:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
-  episode_total: mean=188.95s, total=188.95s, count=1, min=188945.3ms, max=188945.3ms
-  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=397.6ms, max=1042.9ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7669.6ms, max=7669.6ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=88.3ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.0ms, max=3861.0ms
-  task_sampling: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
-  task_specific_sample: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:31:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:31:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:31:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 19:31:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:31:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:31:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013435m
-[05/10 19:31:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:31:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:31:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69543388  0.24971224  0.01343544] yaw=164.2deg
-[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85045167  0.1076041   0.01343544] yaw=166.3deg
-[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02172415  0.12426163  0.01343544] yaw=158.0deg
-[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:31:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:31:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
-[05/10 19:31:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.250, 0.013)
-[05/10 19:31:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg
-[05/10 19:31:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:31:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 19:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 19:31:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:31:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:31:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
-[05/10 19:31:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.634[m] 102.781[deg]
-[05/10 19:31:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:33:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:33:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:33:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:33:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:33:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/10 19:33:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True
-[05/10 19:33:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.300[deg]
-[05/10 19:33:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:33:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:33:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:33:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:33:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:33:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:33:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:33:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 19:33:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.430s, found feasible grasp: True
-[05/10 19:33:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.889[deg]
-[05/10 19:33:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:33:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:33:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
-[05/10 19:33:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=0.39s:
-  episode_total: mean=165.84s, total=165.84s, count=1, min=165836.7ms, max=165836.7ms
-  sensor_polling: mean=457.3ms, total=137.18s, count=300, min=384.4ms, max=696.3ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=85.3ms
-  task_sampling: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms
-  task_specific_sample: mean=382.6ms, total=382.6ms, count=1, min=382.6ms, max=382.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=515.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:34:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:34:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:34:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:34:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:34:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:34:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/10 19:34:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:34:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:34:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023556m
-[05/10 19:34:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:34:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:34:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:34:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:34:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04799081  0.9067216   0.02355592] yaw=-154.7deg
-[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79250185  0.97044528  0.02355592] yaw=-153.3deg
-[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:34:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94722484  0.48828177  0.02355592] yaw=-168.8deg
-[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:34:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:34:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.4ms, total=379.5ms
-[05/10 19:34:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.907, 0.024)
-[05/10 19:34:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg
-[05/10 19:34:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
-[05/10 19:34:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:34:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:34:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:34:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:34:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:34:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 19:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/10 19:34:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:34:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:34:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 19:34:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.095s, found feasible grasp: True
-[05/10 19:34:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.337[m] 81.301[deg]
-[05/10 19:34:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:34:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:34:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:36:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:36:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:36:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
-[05/10 19:36:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/10 19:36:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:36:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:36:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.52s (batch: 3.87s, save: 7.65s)
-[05/10 19:36:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.63s:
-  episode_total: mean=169.38s, total=169.38s, count=1, min=169382.8ms, max=169382.8ms
-  sensor_polling: mean=429.9ms, total=123.81s, count=288, min=377.8ms, max=664.7ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7650.4ms, max=7650.4ms
-  physics_step: mean=20.4ms, total=5.88s, count=288, min=16.6ms, max=45.1ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.2ms, max=3872.2ms
-  task_sampling: mean=626.7ms, total=626.7ms, count=1, min=626.7ms, max=626.7ms
-  task_specific_sample: mean=622.9ms, total=622.9ms, count=1, min=622.9ms, max=622.9ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:36:52 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:36:52 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:36:52 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
-[05/10 19:36:52 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4896.26s
-  House averages:
-  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
-  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
-  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
-  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
-  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
-  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
-  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:36:52 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 19:36:52 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4896.26s
-  Worker averages:
-  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
-  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
-  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
-  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
-  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
-  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
-  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
-  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
-  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
-  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
-  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
-  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
-  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
-  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
-  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
-  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
-  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
-  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
-  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:36:54 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 19:36:54 INFO pipeline.py:1491] Success count: 11, Total count: 12
-[05/10 19:36:54 INFO pipeline.py:1492] Success rate: 91.67%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
-==========================================
diff --git a/fridge_7/chunk_006/shard_4_of_4.log b/fridge_7/chunk_006/shard_4_of_4.log
deleted file mode 100644
index f3410e1e8b22abc4469c62b3e530e4b10da003c0..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_006/shard_4_of_4.log
+++ /dev/null
@@ -1,1817 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
-  shard=4/4  seed=20604  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:58 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 18:51:58 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 18:51:58 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 18:51:58 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x763699c276d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20604,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:51:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 18:51:58 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 18:51:58 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 129976875050320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 129976875050320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 129976875050320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 129976875050320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 129976880866896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 129976880866896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 129976880872848 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 129976880872848 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 129976880872848 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 129976880872848 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 129976880866896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 129976880866896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 129976875084112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 129976875084112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 129976875086352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 129976875086352 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 129976875086352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 129976875086352 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 129976875084112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 129976875084112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 18:51:58 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60f06ba25260 at 0x763699e70e50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f06ba52e00 at 0x763699afd150>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f06ba52e00 at 0x763699ffe410>
-[05/10 18:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 18:52:01 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006825m
-[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81244264  0.10970495  0.0068253 ] yaw=162.3deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96084579  0.68996448  0.0068253 ] yaw=-161.2deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86396972  0.6822877   0.0068253 ] yaw=-168.1deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:52:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:52:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=32.4ms, retries=281.0ms, total=313.4ms
-[05/10 18:52:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.110, 0.007)
-[05/10 18:52:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg
-[05/10 18:52:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:52:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.580s
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True
-[05/10 18:52:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 94.564[deg]
-[05/10 18:52:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:53:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:53:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:54:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 18:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 18:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 18:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 18:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 18:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 18:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 18:54:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:54:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:54:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 18:54:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True
-[05/10 18:54:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]
-[05/10 18:54:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:54:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 18:55:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:55:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 18:55:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:55:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 18:55:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:55:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.18s, save: 8.17s)
-[05/10 18:55:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
-  episode_total: mean=211.14s, total=211.14s, count=1, min=211143.9ms, max=211143.9ms
-  sensor_polling: mean=431.5ms, total=129.46s, count=300, min=400.8ms, max=578.2ms
-  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8172.5ms, max=8172.5ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.9ms, max=28.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.6ms, max=4182.6ms
-  task_sampling: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=567.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:55:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:55:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 18:55:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:55:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:55:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009717m
-[05/10 18:55:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:55:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:55:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77643334  0.5874257   0.0097166 ] yaw=-172.0deg
-[05/10 18:55:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:55:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02552139  0.80729708  0.0097166 ] yaw=-157.5deg
-[05/10 18:55:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:55:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:55:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms
-[05/10 18:55:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.587, 0.010)
-[05/10 18:55:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg
-[05/10 18:55:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:55:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:55:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 18:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 18:55:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:55:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:55:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 18:55:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True
-[05/10 18:55:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.485[m] 88.142[deg]
-[05/10 18:55:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:56:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 18:57:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 18:58:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:58:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 18:58:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 18:58:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 18:58:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 18:58:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.62s, save: 8.19s)
-[05/10 18:58:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.53s:
-  episode_total: mean=170.51s, total=170.51s, count=1, min=170511.8ms, max=170511.8ms
-  sensor_polling: mean=433.1ms, total=129.93s, count=300, min=394.0ms, max=632.8ms
-  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.4ms, max=8192.4ms
-  physics_step: mean=19.2ms, total=5.76s, count=300, min=14.5ms, max=27.8ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.6ms, max=3624.6ms
-  task_sampling: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
-  task_specific_sample: mean=524.4ms, total=524.4ms, count=1, min=524.4ms, max=524.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=398.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 18:58:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 18:58:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:58:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 18:58:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 18:58:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 18:58:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026796m
-[05/10 18:58:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 18:58:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 18:58:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 18:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71578058  0.34498013  0.02679642] yaw=175.7deg
-[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90716321  0.6962257   0.02679642] yaw=-155.8deg
-[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08060607  1.13413775  0.02679642] yaw=-143.9deg
-[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 18:58:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 18:58:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms
-[05/10 18:58:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.345, 0.027)
-[05/10 18:58:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg
-[05/10 18:58:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 18:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 18:58:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 18:58:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 18:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 18:58:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 18:58:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 18:58:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 18:58:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
-[05/10 18:58:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.534[m] 90.711[deg]
-[05/10 18:58:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 18:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 18:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 18:59:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 18:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 18:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:00:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:01:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:01:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:01:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:01:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:01:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:01:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.84s (batch: 4.00s, save: 7.84s)
-[05/10 19:01:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
-  episode_total: mean=190.23s, total=190.23s, count=1, min=190230.4ms, max=190230.4ms
-  sensor_polling: mean=481.2ms, total=144.35s, count=300, min=402.3ms, max=879.2ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.8ms, max=7841.8ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.0ms, max=93.4ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.3ms, max=3997.3ms
-  task_sampling: mean=403.4ms, total=403.4ms, count=1, min=403.4ms, max=403.4ms
-  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 19:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035270m
-[05/10 19:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:01:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:01:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75010562 -0.00885265  0.03527008] yaw=161.4deg
-[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78484861  0.59316214  0.03527008] yaw=-163.1deg
-[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96125174  0.30942488  0.03527008] yaw=165.6deg
-[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:01:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:01:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms
-[05/10 19:01:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, -0.009, 0.035)
-[05/10 19:01:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg
-[05/10 19:01:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
-[05/10 19:01:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:01:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:01:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 19:01:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.689s, found feasible grasp: True
-[05/10 19:01:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 90.095[deg]
-[05/10 19:01:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:01:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:01:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 19:01:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:01:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:01:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055125m
-[05/10 19:01:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:01:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:01:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78243411  0.87676521  0.05512521] yaw=-164.5deg
-[05/10 19:01:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93940621  0.88491134  0.05512521] yaw=-150.9deg
-[05/10 19:01:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:01:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:01:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms
-[05/10 19:01:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.877, 0.055)
-[05/10 19:01:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg
-[05/10 19:01:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:01:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 19:01:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:01:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:01:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:01:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.853s, found feasible grasp: True
-[05/10 19:01:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.532[m] 84.722[deg]
-[05/10 19:01:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:01:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:01:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 19:01:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:01:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:01:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072648m
-[05/10 19:01:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:01:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:01:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9188889   0.33960113  0.07264779] yaw=159.8deg
-[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74593304  0.53107616  0.07264779] yaw=-168.2deg
-[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:01:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92948066  0.61383236  0.07264779] yaw=-176.4deg
-[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:01:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:01:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.4ms, total=76.4ms
-[05/10 19:01:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.340, 0.073)
-[05/10 19:01:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg
-[05/10 19:01:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:01:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:01:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 19:01:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:01:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:01:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:01:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
-[05/10 19:01:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.382[m] 95.726[deg]
-[05/10 19:01:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:03:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:03:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
-[05/10 19:03:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True
-[05/10 19:03:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.800[deg]
-[05/10 19:03:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:03:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:03:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 19:03:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:03:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:03:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009198m
-[05/10 19:03:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:03:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:03:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80790499  0.19076359  0.00919786] yaw=162.0deg
-[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9321197   0.74229317  0.00919786] yaw=-162.0deg
-[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80230296  0.20440691  0.00919786] yaw=155.1deg
-[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:03:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:03:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.2ms, total=401.2ms
-[05/10 19:03:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.191, 0.009)
-[05/10 19:03:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg
-[05/10 19:03:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:03:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:03:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:03:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 19:03:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 19:03:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:03:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:03:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/10 19:03:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True
-[05/10 19:03:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.509[m] 87.422[deg]
-[05/10 19:03:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:04:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:05:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:05:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:05:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:05:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:05:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:06:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps
-[05/10 19:06:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.387s, found feasible grasp: True
-[05/10 19:06:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]
-[05/10 19:06:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:06:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 19:06:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030937m
-[05/10 19:06:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87686889  1.01125251  0.03093666] yaw=-139.2deg
-[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92854805  0.93516997  0.03093666] yaw=-148.0deg
-[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71858181  0.63063159  0.03093666] yaw=-179.3deg
-[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.4ms
-[05/10 19:06:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 1.011, 0.031)
-[05/10 19:06:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg
-[05/10 19:06:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.981m
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 19:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 19:06:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 19:06:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.481s, found feasible grasp: True
-[05/10 19:06:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.569[m] 91.324[deg]
-[05/10 19:06:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:06:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:06:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 19:06:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:06:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:06:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030934m
-[05/10 19:06:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:06:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:06:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:06:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73955949  0.45507532  0.03093433] yaw=172.0deg
-[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92737788  1.09649015  0.03093433] yaw=-147.7deg
-[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86911205  0.76872358  0.03093433] yaw=-162.0deg
-[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:06:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:06:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.9ms, total=70.9ms
-[05/10 19:06:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.455, 0.031)
-[05/10 19:06:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg
-[05/10 19:06:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.963m
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:06:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:06:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:06:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 19:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/10 19:06:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:06:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:06:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps
-[05/10 19:06:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True
-[05/10 19:06:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 91.184[deg]
-[05/10 19:06:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:08:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:08:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:08:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:08:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/10 19:08:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.345s, found feasible grasp: True
-[05/10 19:08:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.516[deg]
-[05/10 19:08:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:08:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:08:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:08:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:09:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:09:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:09:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:09:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:09:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:09:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.64s (batch: 4.89s, save: 9.75s)
-[05/10 19:09:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=2.55s:
-  episode_total: mean=78.19s, total=469.16s, count=6, min=3228.2ms, max=199425.2ms
-  sensor_polling: mean=459.1ms, total=349.36s, count=761, min=392.2ms, max=906.3ms
-  physics_step: mean=21.8ms, total=16.60s, count=761, min=14.1ms, max=60.6ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.6ms, max=9748.6ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4892.7ms, max=4892.7ms
-  task_sampling: mean=425.7ms, total=2.55s, count=6, min=298.5ms, max=668.0ms
-  task_specific_sample: mean=422.6ms, total=2.54s, count=6, min=296.2ms, max=665.1ms
-  scene_randomize: mean=1.5ms, total=9.2ms, count=6, min=1.1ms, max=2.1ms
-  mj_forward_sync: mean=437.3us, total=2.6ms, count=6, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms
-[05/10 19:09:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:09:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 19:09:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:09:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:09:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059708m
-[05/10 19:09:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:09:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:09:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95830597  0.14220888  0.05970755] yaw=157.1deg
-[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:09:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95401952  0.68471503  0.05970755] yaw=-173.4deg
-[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16587387  1.14275301  0.05970755] yaw=-130.1deg
-[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:09:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:09:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.7ms, total=89.7ms
-[05/10 19:09:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.142, 0.060)
-[05/10 19:09:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg
-[05/10 19:09:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:09:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 19:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 19:09:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:09:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:09:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 19:09:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True
-[05/10 19:09:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.425[m] 94.625[deg]
-[05/10 19:09:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:09:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:09:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:11:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:11:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:11:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/10 19:11:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True
-[05/10 19:11:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.138[deg]
-[05/10 19:11:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:11:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:11:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 19:11:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:11:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:11:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025371m
-[05/10 19:11:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:11:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:11:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62372097  0.54540133  0.02537102] yaw=-173.4deg
-[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75218811  0.18054499  0.02537102] yaw=154.5deg
-[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88744511  1.00673041  0.02537102] yaw=-138.6deg
-[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:11:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:11:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.6ms, total=324.6ms
-[05/10 19:11:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.545, 0.025)
-[05/10 19:11:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg
-[05/10 19:11:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:11:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:11:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:11:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 19:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 19:11:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:11:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:11:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 19:11:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True
-[05/10 19:11:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.654[m] 99.150[deg]
-[05/10 19:11:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:11:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:11:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:12:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:14:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:14:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:14:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:14:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:14:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:14:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:14:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.50s (batch: 3.73s, save: 9.77s)
-[05/10 19:14:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.92s:
-  episode_total: mean=151.66s, total=303.33s, count=2, min=118162.7ms, max=185165.9ms
-  sensor_polling: mean=467.3ms, total=235.03s, count=503, min=399.8ms, max=791.0ms
-  physics_step: mean=21.8ms, total=10.96s, count=503, min=13.7ms, max=47.7ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9766.2ms, max=9766.2ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.5ms, max=3732.5ms
-  task_sampling: mean=460.2ms, total=920.3ms, count=2, min=354.7ms, max=565.6ms
-  task_specific_sample: mean=455.9ms, total=911.7ms, count=2, min=350.7ms, max=561.0ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:14:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:14:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:14:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:14:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:14:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:14:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:14:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 19:14:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:14:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:14:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033890m
-[05/10 19:14:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:14:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:14:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71386259  0.42507214  0.0338905 ] yaw=178.0deg
-[05/10 19:14:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70366184  0.49535685  0.0338905 ] yaw=-181.9deg
-[05/10 19:14:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03423039  1.05802274  0.0338905 ] yaw=-132.3deg
-[05/10 19:14:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:14:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:14:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.6ms
-[05/10 19:14:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.425, 0.034)
-[05/10 19:14:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg
-[05/10 19:14:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.990m
-[05/10 19:14:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:14:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:14:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:14:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:14:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:14:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 19:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 19:14:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:14:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:14:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 19:14:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True
-[05/10 19:14:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.546[m] 94.445[deg]
-[05/10 19:14:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:15:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:15:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:17:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:17:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:17:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:17:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:17:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:17:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 19:17:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True
-[05/10 19:17:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.419[deg]
-[05/10 19:17:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:17:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:17:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:17:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:17:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:18:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:18:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:18:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.54s (batch: 4.38s, save: 8.16s)
-[05/10 19:18:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
-  episode_total: mean=199.80s, total=199.80s, count=1, min=199799.2ms, max=199799.2ms
-  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=401.2ms, max=846.0ms
-  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8164.2ms, max=8164.2ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.5ms, max=50.1ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4375.6ms, max=4375.6ms
-  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
-  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=562.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:18:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:18:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:18:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 19:18:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:18:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:18:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069916m
-[05/10 19:18:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:18:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:18:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91429128  0.36425648  0.06991551] yaw=162.2deg
-[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92319623  1.03182846  0.06991551] yaw=-145.7deg
-[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90644387  0.86824515  0.06991551] yaw=-156.4deg
-[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:18:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:18:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms
-[05/10 19:18:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.364, 0.070)
-[05/10 19:18:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg
-[05/10 19:18:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.797m
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:18:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:18:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 19:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 19:18:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:18:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:18:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 19:18:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.431s, found feasible grasp: True
-[05/10 19:18:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.352[m] 89.109[deg]
-[05/10 19:18:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:19:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True
-[05/10 19:19:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]
-[05/10 19:19:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True
-[05/10 19:19:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]
-[05/10 19:19:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:19:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 19:20:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:20:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:20:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/10 19:20:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.324s, found feasible grasp: True
-[05/10 19:20:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.672[deg]
-[05/10 19:20:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 19:20:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
-[05/10 19:20:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.39s:
-  episode_total: mean=137.24s, total=137.24s, count=1, min=137241.4ms, max=137241.4ms
-  sensor_polling: mean=481.3ms, total=100.10s, count=208, min=405.4ms, max=992.0ms
-  physics_step: mean=23.7ms, total=4.93s, count=208, min=11.9ms, max=103.6ms
-  task_sampling: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
-  task_specific_sample: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:20:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:20:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:20:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/10 19:20:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:20:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:20:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090484m
-[05/10 19:20:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:20:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:20:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:20:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91339618  0.19110336  0.09048423] yaw=169.6deg
-[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91033214  0.90920914  0.09048423] yaw=-160.4deg
-[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68067852  0.81703755  0.09048423] yaw=-157.5deg
-[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:20:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:20:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms
-[05/10 19:20:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.191, 0.090)
-[05/10 19:20:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
-[05/10 19:20:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:20:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:20:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:20:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 19:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
-[05/10 19:20:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:20:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:20:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:20:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
-[05/10 19:20:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.408[m] 88.182[deg]
-[05/10 19:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:22:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:22:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:22:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:22:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 19:22:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True
-[05/10 19:22:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.324[deg]
-[05/10 19:22:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:22:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:22:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:22:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:22:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:22:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:22:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 19:22:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:22:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:22:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024669m
-[05/10 19:22:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:22:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:22:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73679213  0.05392849  0.02466882] yaw=167.1deg
-[05/10 19:22:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:22:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12525039  1.13441302  0.02466882] yaw=-133.7deg
-[05/10 19:22:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:22:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:22:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms
-[05/10 19:22:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.054, 0.025)
-[05/10 19:22:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg
-[05/10 19:22:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.056m
-[05/10 19:22:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:22:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:22:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:22:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:22:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:22:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 19:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 19:22:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:22:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:22:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:22:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.452s, found feasible grasp: True
-[05/10 19:22:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.597[m] 85.037[deg]
-[05/10 19:22:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:25:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:25:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:25:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:25:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:25:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:25:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:25:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.68s (batch: 3.82s, save: 9.86s)
-[05/10 19:25:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
-  episode_total: mean=159.61s, total=319.22s, count=2, min=113162.4ms, max=206061.9ms
-  sensor_polling: mean=459.1ms, total=228.62s, count=498, min=396.4ms, max=743.3ms
-  physics_step: mean=22.4ms, total=11.17s, count=498, min=13.7ms, max=56.7ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9855.4ms, max=9855.4ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.5ms, max=3823.5ms
-  task_sampling: mean=413.7ms, total=827.3ms, count=2, min=366.0ms, max=461.3ms
-  task_specific_sample: mean=409.6ms, total=819.2ms, count=2, min=362.9ms, max=456.3ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=449.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:25:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:25:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:25:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:25:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:25:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:25:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:25:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/10 19:25:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:25:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:25:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045478m
-[05/10 19:25:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:25:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:25:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:25:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7849755   0.07059824  0.04547836] yaw=155.1deg
-[05/10 19:25:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:25:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87994603  0.89636905  0.04547836] yaw=-152.2deg
-[05/10 19:25:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:25:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:25:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=810.7ms, total=810.7ms
-[05/10 19:25:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.071, 0.045)
-[05/10 19:25:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg
-[05/10 19:25:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
-[05/10 19:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:25:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:25:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:25:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 19:25:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
-[05/10 19:25:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:25:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:25:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 19:25:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.040s, found feasible grasp: True
-[05/10 19:25:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.572[m] 93.635[deg]
-[05/10 19:25:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:28:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:28:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:28:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
-[05/10 19:28:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:28:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:28:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
-[05/10 19:28:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 16.02s (batch: 4.24s, save: 11.77s)
-[05/10 19:28:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.13s:
-  episode_total: mean=191.79s, total=191.79s, count=1, min=191791.2ms, max=191791.2ms
-  sensor_polling: mean=459.0ms, total=137.69s, count=300, min=396.2ms, max=711.9ms
-  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11772.2ms, max=11772.2ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=64.3ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4244.4ms, max=4244.4ms
-  task_sampling: mean=1.13s, total=1.13s, count=1, min=1126.6ms, max=1126.6ms
-  task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1122.0ms, max=1122.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:28:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:28:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:28:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 19:28:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:28:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:28:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m
-[05/10 19:28:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:28:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:28:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90620847  1.05989578  0.03486075] yaw=-141.6deg
-[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98101817  0.15038829  0.03486075] yaw=150.3deg
-[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89775821  1.08977325  0.03486075] yaw=-146.7deg
-[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:28:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:28:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms
-[05/10 19:28:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.906, 1.060, 0.035)
-[05/10 19:28:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg
-[05/10 19:28:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:28:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:28:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:28:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 19:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 19:28:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:28:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:28:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 19:28:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True
-[05/10 19:28:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.569[m] 91.002[deg]
-[05/10 19:29:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:29:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:29:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:29:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 19:29:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:29:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:29:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095615m
-[05/10 19:29:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:29:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:29:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08661142  1.02150901  0.09561494] yaw=-128.5deg
-[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02641749  0.82442678  0.09561494] yaw=-153.7deg
-[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95425569  0.85642442  0.09561494] yaw=-159.0deg
-[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:29:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:29:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.4ms
-[05/10 19:29:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.022, 0.096)
-[05/10 19:29:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg
-[05/10 19:29:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
-[05/10 19:29:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:29:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:29:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:29:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:29:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:29:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 19:29:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 19:29:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:29:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:29:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 19:29:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True
-[05/10 19:29:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 89.580[deg]
-[05/10 19:29:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:29:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:29:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:31:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:31:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps
-[05/10 19:31:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True
-[05/10 19:31:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.288[deg]
-[05/10 19:31:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:31:38 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
-[05/10 19:31:39 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:31:39 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
-[05/10 19:31:39 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/9 successful episodes
-[05/10 19:31:39 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=4293.41s
-  House averages:
-  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
-  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
-  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
-  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
-  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
-  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:31:39 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 19:31:39 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4293.41s
-  Worker averages:
-  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
-  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
-  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
-  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
-  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
-  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
-  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
-  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
-  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
-  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
-  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
-  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
-  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 19:31:42 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 19:31:42 INFO pipeline.py:1491] Success count: 8, Total count: 9
-[05/10 19:31:42 INFO pipeline.py:1492] Success rate: 88.89%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
-==========================================
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-05/10 19:44:49 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 19:44:49 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 19:44:49 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 19:44:49 INFO: {'batch_num': 4,
- 'benchmark_path': None,
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-                                'skip_erosion': False,
-                                'up_axis': 'z',
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-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20704,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 19:44:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 19:44:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 19:44:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 19:44:49 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 19:44:49 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 19:44:49 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 19:44:49 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x703c7c2be4d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20701,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 19:44:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 19:44:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 19:44:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 19:44:49 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 19:44:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 19:44:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 19:44:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 19:44:50 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eae3aabc850>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20703,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 19:44:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 19:44:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 19:44:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 19:44:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 19:44:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 19:44:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 19:44:50 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7341c196b690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20702,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 19:44:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 19:44:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 19:44:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068289m	[env.py: 870]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72708946  0.35574647  0.0682893 ] yaw=170.2deg	[env.py: 1019]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98115611  0.99723023  0.0682893 ] yaw=-154.9deg	[env.py: 1019]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90074078  0.62346739  0.0682893 ] yaw=-163.5deg	[env.py: 1019]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=13.7ms, retries=133.5ms, total=147.2ms	[env.py: 1075]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.356, 0.068)	[env.py: 1079]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040459m	[env.py: 870]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93951293  1.03241453  0.04045881] yaw=-135.3deg	[env.py: 1019]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67885125  0.22759735  0.04045881] yaw=170.8deg	[env.py: 1019]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018409m	[env.py: 870]
-05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03138415  1.1204511   0.04045881] yaw=-126.3deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=46.9ms, retries=200.4ms, total=247.3ms	[env.py: 1075]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 1.032, 0.040)	[env.py: 1079]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74968595  0.78148478  0.01840942] yaw=-167.8deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92929802  0.83406204  0.01840942] yaw=-162.0deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92112802  0.86820348  0.01840942] yaw=-144.8deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=48.9ms, retries=171.7ms, total=220.7ms	[env.py: 1075]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.781, 0.018)	[env.py: 1079]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:44:53 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 19:44:53 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:44:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 19:44:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 19:44:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:44:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062358m	[env.py: 870]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:44:53 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94611288  1.17634791  0.06235842] yaw=-134.5deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76954052  0.08004172  0.06235842] yaw=159.2deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74807338  0.91854216  0.06235842] yaw=-163.8deg	[env.py: 1019]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.1ms, retries=140.5ms, total=154.7ms	[env.py: 1075]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 1.176, 0.062)	[env.py: 1079]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
-05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:45:20 INFO: [Worker 0] Warmed up parallel IK solver in 26.599s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:45:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:45:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:45:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:45:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 85.497[deg]	[grasp_sample.py: 539]
-05/10 19:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 27.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:45:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:45:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 28.438s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 28.576s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:45:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 93.709[deg]	[grasp_sample.py: 539]
-05/10 19:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:45:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:45:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.557s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 92.204[deg]	[grasp_sample.py: 539]
-05/10 19:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:45:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.961s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:45:26 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.613[m] 95.467[deg]	[grasp_sample.py: 539]
-05/10 19:45:27 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:45:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:45:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:45:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027235m	[env.py: 870]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95766998  0.23143234  0.02723459] yaw=166.1deg	[env.py: 1019]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85154113  0.37219871  0.02723459] yaw=177.6deg	[env.py: 1019]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=402.2ms, total=402.2ms	[env.py: 1075]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.231, 0.027)	[env.py: 1079]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
-05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:45:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:45:29 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:45:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.319[m] 81.614[deg]	[grasp_sample.py: 539]
-05/10 19:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:46:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:46:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:46:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:46:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:47:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:47:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:47:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:47:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:47:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.801s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:47:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.391[deg]	[grasp_sample.py: 539]
-05/10 19:47:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:47:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:47:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:47:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:47:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:06 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:48:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:48:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:48:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.960[deg]	[grasp_sample.py: 539]
-05/10 19:48:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:48:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:48:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:26 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:48:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:48:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:48:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:48:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:48:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:48:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:48:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.91s (batch: 3.87s, save: 9.04s)	[pipeline.py: 300]
-05/10 19:48:40 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.25s:
-  episode_total: mean=230.32s, total=230.32s, count=1, min=230324.3ms, max=230324.3ms
-  sensor_polling: mean=515.8ms, total=154.75s, count=300, min=439.0ms, max=760.0ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.2ms, max=9039.2ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.6ms, max=78.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3871.6ms, max=3871.6ms
-  task_sampling: mean=3.25s, total=3.25s, count=1, min=3245.1ms, max=3245.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  task_specific_sample: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=636.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:48:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:48:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:48:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:48:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:48:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:48:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064530m	[env.py: 870]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:48:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77937936  0.2091806   0.06453014] yaw=174.4deg	[env.py: 1019]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91729657  0.55505217  0.06453014] yaw=-170.5deg	[env.py: 1019]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90906542  0.52777162  0.06453014] yaw=-166.6deg	[env.py: 1019]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.4ms, total=253.5ms	[env.py: 1075]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.209, 0.065)	[env.py: 1079]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.4 deg	[env.py: 1082]
-05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:48:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:48:42 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:48:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:48:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:48:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:48:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:48:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:48:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:48:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 80.899[deg]	[grasp_sample.py: 539]
-05/10 19:48:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:48:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:48:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:48:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:48:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:48:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.31s (batch: 4.29s, save: 10.03s)	[pipeline.py: 300]
-05/10 19:48:46 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.068s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:48:46 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.613[deg]	[grasp_sample.py: 539]
-05/10 19:48:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:48:47 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
-  episode_total: mean=237.32s, total=237.32s, count=1, min=237318.8ms, max=237318.8ms
-  sensor_polling: mean=519.4ms, total=155.83s, count=300, min=426.5ms, max=720.3ms
-  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10026.3ms, max=10026.3ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=15.8ms, max=125.0ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.2ms, max=4287.2ms
-  task_sampling: mean=3.41s, total=3.41s, count=1, min=3413.0ms, max=3413.0ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_specific_sample: mean=576.5ms, total=576.5ms, count=1, min=576.5ms, max=576.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=653.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=40.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:48:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:48:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:48:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:48:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:48:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082266m	[env.py: 870]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13831907  1.07094622  0.08226626] yaw=-126.3deg	[env.py: 1019]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74903779  0.24424859  0.08226626] yaw=164.6deg	[env.py: 1019]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93823278  0.17281195  0.08226626] yaw=161.4deg	[env.py: 1019]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:48:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms	[env.py: 1075]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.138, 1.071, 0.082)	[env.py: 1079]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
-05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:48:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:48:49 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:48:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:48:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:48:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:48:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:48:50 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:48:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:48:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:48:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:48:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.421[m] 92.483[deg]	[grasp_sample.py: 539]
-05/10 19:48:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:48:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:48:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:48:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:49:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:49:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:49:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.79s (batch: 4.62s, save: 9.17s)	[pipeline.py: 300]
-05/10 19:49:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.53s:
-  episode_total: mean=255.77s, total=255.77s, count=1, min=255768.9ms, max=255768.9ms
-  sensor_polling: mean=523.7ms, total=157.11s, count=300, min=428.4ms, max=849.4ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.3ms, max=9167.3ms
-  physics_step: mean=28.7ms, total=8.60s, count=300, min=14.9ms, max=93.6ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4621.6ms, max=4621.6ms
-  task_sampling: mean=3.53s, total=3.53s, count=1, min=3530.6ms, max=3530.6ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  task_specific_sample: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:49:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:49:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:49:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:49:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:49:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:49:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:49:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043876m	[env.py: 870]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:49:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00292902  1.13075295  0.04387582] yaw=-126.0deg	[env.py: 1019]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93287159  1.07000864  0.04387582] yaw=-136.3deg	[env.py: 1019]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97710951  1.01034935  0.04387582] yaw=-140.9deg	[env.py: 1019]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:49:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms	[env.py: 1075]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.131, 0.044)	[env.py: 1079]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.0 deg	[env.py: 1082]
-05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:49:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:49:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:49:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:49:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:49:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:49:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.557s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:49:13 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.556[m] 80.154[deg]	[grasp_sample.py: 539]
-05/10 19:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:15 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:49:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:49:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:49:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:49:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:49:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:49:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:49:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:49:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.07s (batch: 5.19s, save: 11.88s)	[pipeline.py: 300]
-05/10 19:49:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
-  episode_total: mean=152.63s, total=305.26s, count=2, min=36518.8ms, max=268737.2ms
-  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=430.8ms, max=887.8ms
-  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11875.0ms, max=11875.0ms
-  physics_step: mean=27.5ms, total=8.26s, count=300, min=13.3ms, max=105.7ms
-  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5192.6ms, max=5192.6ms
-  task_sampling: mean=2.03s, total=4.05s, count=2, min=687.1ms, max=3366.7ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  task_specific_sample: mean=560.1ms, total=1.12s, count=2, min=435.8ms, max=684.4ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:49:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:49:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:49:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:49:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:49:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:49:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:49:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006516m	[env.py: 870]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:49:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7688609   0.37402735  0.00651616] yaw=174.3deg	[env.py: 1019]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91988827  0.93155005  0.00651616] yaw=-158.3deg	[env.py: 1019]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73593649  0.4405686   0.00651616] yaw=169.0deg	[env.py: 1019]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:49:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms	[env.py: 1075]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.374, 0.007)	[env.py: 1079]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
-05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:49:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:49:59 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:49:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:49:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:49:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:49:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:50:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:50:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 94.479[deg]	[grasp_sample.py: 539]
-05/10 19:50:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:50:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:50:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:50:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:50:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:50:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:50:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 19:50:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:50:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:50:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:50:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:50:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.606[deg]	[grasp_sample.py: 539]
-05/10 19:50:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:50:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:50:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:50:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:50:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:51:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:51:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:51:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:51:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:51:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:51:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:51:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.297[deg]	[grasp_sample.py: 539]
-05/10 19:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:32 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:51:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:51:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:51:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:51:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:51:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:51:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.677[deg]	[grasp_sample.py: 539]
-05/10 19:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:51:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:51:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:51:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028140m	[env.py: 870]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66979452  0.40708419  0.02814017] yaw=186.7deg	[env.py: 1019]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89922956  0.9085871   0.02814017] yaw=-156.7deg	[env.py: 1019]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82580758  1.09712943  0.02814017] yaw=-136.6deg	[env.py: 1019]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms	[env.py: 1075]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.407, 0.028)	[env.py: 1079]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg	[env.py: 1082]
-05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:51:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:51:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:51:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:51:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:51:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:51:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 97.631[deg]	[grasp_sample.py: 539]
-05/10 19:51:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:51:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:51:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:51:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:52:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:52:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:52:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:52:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:52:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:52:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:52:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:52:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:52:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.46s (batch: 4.34s, save: 13.11s)	[pipeline.py: 300]
-05/10 19:52:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=233.18s, total=233.18s, count=1, min=233175.8ms, max=233175.8ms
-  sensor_polling: mean=525.1ms, total=157.53s, count=300, min=456.4ms, max=1016.9ms
-  save_trajectories: mean=13.11s, total=13.11s, count=1, min=13112.4ms, max=13112.4ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.3ms, max=74.4ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
-  task_sampling: mean=504.3ms, total=504.3ms, count=1, min=504.3ms, max=504.3ms
-  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=586.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:52:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:52:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:52:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:52:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:52:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:52:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:52:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095905m	[env.py: 870]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:52:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0493087   1.23462005  0.09590478] yaw=-134.2deg	[env.py: 1019]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:52:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms	[env.py: 1075]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.235, 0.096)	[env.py: 1079]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
-05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:52:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:52:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:52:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:52:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:52:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:52:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:52:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.55s (batch: 5.01s, save: 11.54s)	[pipeline.py: 300]
-05/10 19:52:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.32s, total=212.32s, count=1, min=212319.4ms, max=212319.4ms
-  sensor_polling: mean=508.1ms, total=152.43s, count=300, min=443.6ms, max=1214.5ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11543.9ms, max=11543.9ms
-  physics_step: mean=24.7ms, total=7.41s, count=300, min=17.3ms, max=99.0ms
-  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5009.2ms, max=5009.2ms
-  task_sampling: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
-  task_specific_sample: mean=448.4ms, total=448.4ms, count=1, min=448.4ms, max=448.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:52:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:52:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038275m	[env.py: 870]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02022011  0.96221966  0.0382746 ] yaw=-147.8deg	[env.py: 1019]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86749705  0.84158363  0.0382746 ] yaw=-153.0deg	[env.py: 1019]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79249019  0.28872343  0.0382746 ] yaw=167.3deg	[env.py: 1019]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms	[env.py: 1075]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.962, 0.038)	[env.py: 1079]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg	[env.py: 1082]
-05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:52:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:52:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:52:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:52:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:52:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.587[m] 87.295[deg]	[grasp_sample.py: 539]
-05/10 19:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:52:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 94.371[deg]	[grasp_sample.py: 539]
-05/10 19:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:52:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:52:46 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:52:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:52:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:53:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:53:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:53:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:53:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:53:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:53:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.03s (batch: 4.59s, save: 9.44s)	[pipeline.py: 300]
-05/10 19:53:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.35s:
-  episode_total: mean=208.53s, total=208.53s, count=1, min=208534.2ms, max=208534.2ms
-  sensor_polling: mean=511.7ms, total=153.50s, count=300, min=429.1ms, max=816.1ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9444.1ms, max=9444.1ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.5ms, max=88.9ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.8ms, max=4589.8ms
-  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
-  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=410.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:53:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:53:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:53:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:53:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031138m	[env.py: 870]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89473831  0.87948054  0.03113831] yaw=-151.2deg	[env.py: 1019]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87197325  0.19232102  0.03113831] yaw=158.1deg	[env.py: 1019]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78739777  1.00895019  0.03113831] yaw=-150.9deg	[env.py: 1019]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.6ms	[env.py: 1075]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.879, 0.031)	[env.py: 1079]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
-05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:53:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:53:30 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:53:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:53:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:53:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:53:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:53:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 88.083[deg]	[grasp_sample.py: 539]
-05/10 19:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:53:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:53:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:53:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:53:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:53:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:53:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:54:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:54:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:54:24 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:54:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:54:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:54:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:54:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:54:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:54:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.542[deg]	[grasp_sample.py: 539]
-05/10 19:54:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:54:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:54:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:54:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:54:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:54:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 4.26s, save: 8.41s)	[pipeline.py: 300]
-05/10 19:54:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.02s:
-  episode_total: mean=183.92s, total=367.83s, count=2, min=163518.7ms, max=204312.5ms
-  sensor_polling: mean=518.0ms, total=296.29s, count=572, min=434.2ms, max=955.8ms
-  physics_step: mean=25.8ms, total=14.76s, count=572, min=15.4ms, max=100.7ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8405.3ms, max=8405.3ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4256.1ms, max=4256.1ms
-  task_sampling: mean=510.5ms, total=1.02s, count=2, min=396.2ms, max=624.7ms
-  task_specific_sample: mean=506.7ms, total=1.01s, count=2, min=393.1ms, max=620.3ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:55:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:55:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:55:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:55:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:55:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:55:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:55:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078190m	[env.py: 870]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:55:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02737266  0.95441478  0.07818964] yaw=-155.8deg	[env.py: 1019]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80713692  0.93130194  0.07818964] yaw=-142.6deg	[env.py: 1019]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80073957  0.25127726  0.07818964] yaw=165.1deg	[env.py: 1019]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:55:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.954, 0.078)	[env.py: 1079]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
-05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:55:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:55:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:55:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:55:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:55:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:55:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:55:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:55:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 97.685[deg]	[grasp_sample.py: 539]
-05/10 19:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:55:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:55:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:55:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:55:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:55:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:55:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:55:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:55:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:55:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.112[deg]	[grasp_sample.py: 539]
-05/10 19:55:45 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:55:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:55:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:55:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:55:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:55:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:55:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:55:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063309m	[env.py: 870]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:55:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68542771  0.23839162  0.06330891] yaw=165.5deg	[env.py: 1019]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67650864  0.84597771  0.06330891] yaw=-169.2deg	[env.py: 1019]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93712728  0.12622628  0.06330891] yaw=162.9deg	[env.py: 1019]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:55:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=464.5ms, total=464.6ms	[env.py: 1075]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.238, 0.063)	[env.py: 1079]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
-05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
-05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:55:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:55:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:55:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:55:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:55:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:55:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:55:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:55:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 87.823[deg]	[grasp_sample.py: 539]
-05/10 19:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:55:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:55:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:55:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:55:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:55:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:55:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:56:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:56:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:56:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:56:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:56:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.19s (batch: 4.25s, save: 8.94s)	[pipeline.py: 300]
-05/10 19:56:11 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=210.62s, total=210.62s, count=1, min=210620.4ms, max=210620.4ms
-  sensor_polling: mean=520.9ms, total=156.27s, count=300, min=441.3ms, max=982.0ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.4ms, max=98.2ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.8ms, max=4247.8ms
-  task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
-  task_specific_sample: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=412.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:56:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:56:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:56:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082422m	[env.py: 870]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71475185  0.62963193  0.08242201] yaw=-177.5deg	[env.py: 1019]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81386772  1.05705999  0.08242201] yaw=-152.1deg	[env.py: 1019]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78052028  1.01621104  0.08242201] yaw=-157.4deg	[env.py: 1019]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.3ms, total=304.3ms	[env.py: 1075]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.630, 0.082)	[env.py: 1079]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg	[env.py: 1082]
-05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:56:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:56:14 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:56:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:56:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:56:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:56:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:56:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:56:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 93.277[deg]	[grasp_sample.py: 539]
-05/10 19:56:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:56:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:56:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:56:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:56:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:56:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 19:56:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:56:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:56:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:56:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:56:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.35s (batch: 4.52s, save: 12.84s)	[pipeline.py: 300]
-05/10 19:57:00 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=210.39s, total=210.39s, count=1, min=210390.2ms, max=210390.2ms
-  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=425.7ms, max=992.2ms
-  save_trajectories: mean=12.84s, total=12.84s, count=1, min=12835.3ms, max=12835.3ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.9ms, max=77.1ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4515.3ms, max=4515.3ms
-  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  task_specific_sample: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=586.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:57:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:57:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:57:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:57:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:57:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:57:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:57:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089256m	[env.py: 870]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:57:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94317998  0.16687815  0.08925634] yaw=149.4deg	[env.py: 1019]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98944729  0.72553929  0.08925634] yaw=-152.5deg	[env.py: 1019]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.3ms, total=365.4ms	[env.py: 1075]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.167, 0.089)	[env.py: 1079]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.4 deg	[env.py: 1082]
-05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
-05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:57:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:57:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:57:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:57:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 82.610[deg]	[grasp_sample.py: 539]
-05/10 19:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:57:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:57:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:57:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:57:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:57:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:57:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:57:52 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:57:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:58:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:58:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 19:58:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:58:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:58:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:58:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.75s (batch: 4.25s, save: 9.50s)	[pipeline.py: 300]
-05/10 19:58:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
-  episode_total: mean=207.76s, total=207.76s, count=1, min=207757.9ms, max=207757.9ms
-  sensor_polling: mean=530.1ms, total=159.03s, count=300, min=437.1ms, max=1126.9ms
-  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9496.2ms, max=9496.2ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=15.8ms, max=119.4ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4253.4ms, max=4253.4ms
-  task_sampling: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
-  task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:58:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:58:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:58:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:58:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:58:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:58:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:58:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059554m	[env.py: 870]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:58:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90046365  0.67043833  0.05955435] yaw=-168.2deg	[env.py: 1019]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:58:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms	[env.py: 1075]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.670, 0.060)	[env.py: 1079]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
-05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:58:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:58:30 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:58:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:58:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:58:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:58:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:58:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:58:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 89.099[deg]	[grasp_sample.py: 539]
-05/10 19:58:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:58:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:58:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:44 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:58:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 19:58:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 19:58:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 19:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:58:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:58:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:58:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:58:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.162[deg]	[grasp_sample.py: 539]
-05/10 19:58:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:58:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:58:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:58:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:58:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:58:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:58:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:58:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012469m	[env.py: 870]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:58:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69226349  0.90674144  0.01246883] yaw=-160.7deg	[env.py: 1019]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82355689  0.0863396   0.01246883] yaw=162.3deg	[env.py: 1019]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96527915  1.21601626  0.01246883] yaw=-139.2deg	[env.py: 1019]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:58:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=161.0ms	[env.py: 1075]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.907, 0.012)	[env.py: 1079]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
-05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:59:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:59:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:59:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:59:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 19:59:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.226s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:59:06 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.688[m] 84.702[deg]	[grasp_sample.py: 539]
-05/10 19:59:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:59:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:59:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:59:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:59:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 19:59:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:59:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:59:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 19:59:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:59:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:59:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.80s (batch: 4.50s, save: 9.30s)	[pipeline.py: 300]
-05/10 19:59:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.49s:
-  episode_total: mean=204.37s, total=408.74s, count=2, min=188538.8ms, max=220197.6ms
-  sensor_polling: mean=520.9ms, total=305.25s, count=586, min=430.0ms, max=940.4ms
-  physics_step: mean=25.7ms, total=15.04s, count=586, min=16.3ms, max=81.1ms
-  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9300.7ms, max=9300.7ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.4ms, max=4496.4ms
-  task_sampling: mean=747.3ms, total=1.49s, count=2, min=496.9ms, max=997.6ms
-  task_specific_sample: mean=743.4ms, total=1.49s, count=2, min=493.1ms, max=993.7ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.9ms, max=2.6ms
-  mj_forward_sync: mean=505.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:59:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044079m	[env.py: 870]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91753044  0.36050493  0.04407938] yaw=161.8deg	[env.py: 1019]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:59:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074433  1.01476988  0.04407938] yaw=-136.8deg	[env.py: 1019]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98221381  1.28539408  0.04407938] yaw=-124.8deg	[env.py: 1019]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.6ms	[env.py: 1075]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.361, 0.044)	[env.py: 1079]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg	[env.py: 1082]
-05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 19:59:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 19:59:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 19:59:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:59:30 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:59:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:59:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:59:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:59:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:59:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 101.311[deg]	[grasp_sample.py: 539]
-05/10 19:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:59:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:59:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 19:59:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 19:59:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 19:59:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.37s (batch: 5.91s, save: 9.46s)	[pipeline.py: 300]
-05/10 19:59:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.62s:
-  episode_total: mean=213.16s, total=213.16s, count=1, min=213164.6ms, max=213164.6ms
-  sensor_polling: mean=529.1ms, total=158.74s, count=300, min=448.3ms, max=995.4ms
-  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9458.1ms, max=9458.1ms
-  physics_step: mean=25.3ms, total=7.60s, count=300, min=17.9ms, max=86.3ms
-  save_batch_prep: mean=5.91s, total=5.91s, count=1, min=5911.8ms, max=5911.8ms
-  task_sampling: mean=620.9ms, total=620.9ms, count=1, min=620.9ms, max=620.9ms
-  task_specific_sample: mean=616.4ms, total=616.4ms, count=1, min=616.4ms, max=616.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 19:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:59:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:59:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036506m	[env.py: 870]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98477241  1.19896671  0.03650606] yaw=-133.1deg	[env.py: 1019]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11664319  1.03282957  0.03650606] yaw=-145.4deg	[env.py: 1019]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6947743   0.12996194  0.03650606] yaw=156.7deg	[env.py: 1019]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:59:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.4ms, total=157.4ms	[env.py: 1075]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.199, 0.037)	[env.py: 1079]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:59:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:59:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.816s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:59:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.564[m] 86.473[deg]	[grasp_sample.py: 539]
-05/10 19:59:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 19:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 19:59:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 19:59:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 19:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 19:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 19:59:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035222m	[env.py: 870]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 19:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96538032  0.95643658  0.03522206] yaw=-147.3deg	[env.py: 1019]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79160999  0.99739721  0.03522206] yaw=-145.1deg	[env.py: 1019]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95478319  0.74202644  0.03522206] yaw=-167.0deg	[env.py: 1019]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 19:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.3ms, total=80.4ms	[env.py: 1075]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.956, 0.035)	[env.py: 1079]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 19:59:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 19:59:54 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 19:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 19:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 19:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 19:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 19:59:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 19:59:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 92.355[deg]	[grasp_sample.py: 539]
-05/10 19:59:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 19:59:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 19:59:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:00:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:00:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:00:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:01:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:01:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:01:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:01:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:01:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:01:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:01:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.372s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:01:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.727[deg]	[grasp_sample.py: 539]
-05/10 20:01:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:01:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:01:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:01:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:01:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:01:51 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:01:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:01:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:01:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:01:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.46s, save: 9.47s)	[pipeline.py: 300]
-05/10 20:01:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s:
-  episode_total: mean=207.74s, total=207.74s, count=1, min=207740.9ms, max=207740.9ms
-  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=448.3ms, max=896.8ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9466.8ms, max=9466.8ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.0ms, max=121.9ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.4ms, max=4460.4ms
-  task_sampling: mean=581.0ms, total=581.0ms, count=1, min=581.0ms, max=581.0ms
-  task_specific_sample: mean=576.7ms, total=576.7ms, count=1, min=576.7ms, max=576.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=509.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:01:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:01:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:01:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:01:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:01:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:01:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:01:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022242m	[env.py: 870]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:01:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90071735  0.29349962  0.02224201] yaw=167.3deg	[env.py: 1019]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80350395  1.02410784  0.02224201] yaw=-139.5deg	[env.py: 1019]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88328612  1.0112491   0.02224201] yaw=-153.4deg	[env.py: 1019]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.8ms, total=102.8ms	[env.py: 1075]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.293, 0.022)	[env.py: 1079]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
-05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:02:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:02:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:02:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:02:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:02:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:02:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:02:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:02:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 85.062[deg]	[grasp_sample.py: 539]
-05/10 20:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:02:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:02:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:02:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:02:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:02:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:02:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:02:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.00s (batch: 4.09s, save: 8.91s)	[pipeline.py: 300]
-05/10 20:02:31 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.24s:
-  episode_total: mean=163.50s, total=327.00s, count=2, min=115496.1ms, max=211499.2ms
-  sensor_polling: mean=512.1ms, total=247.83s, count=484, min=433.8ms, max=959.2ms
-  physics_step: mean=24.0ms, total=11.64s, count=484, min=17.7ms, max=69.5ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.8ms, max=8908.8ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4086.4ms, max=4086.4ms
-  task_sampling: mean=620.1ms, total=1.24s, count=2, min=535.8ms, max=704.4ms
-  task_specific_sample: mean=616.0ms, total=1.23s, count=2, min=531.8ms, max=700.2ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=581.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:02:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:02:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:02:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:02:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:02:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041340m	[env.py: 870]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15695727  1.01635406  0.04134004] yaw=-143.2deg	[env.py: 1019]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93190871  0.09836322  0.04134004] yaw=153.3deg	[env.py: 1019]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76304696  0.65011816  0.04134004] yaw=-180.6deg	[env.py: 1019]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:02:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.3ms	[env.py: 1075]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.016, 0.041)	[env.py: 1079]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
-05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:02:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:02:33 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:02:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:02:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:02:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 84.628[deg]	[grasp_sample.py: 539]
-05/10 20:02:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:02:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:02:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:02:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:02:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:02:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:02:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:03:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:03:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:03:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:03:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:03:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.65s (batch: 4.24s, save: 12.41s)	[pipeline.py: 300]
-05/10 20:03:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:03:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:03:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.33s (batch: 4.34s, save: 12.98s)	[pipeline.py: 300]
-05/10 20:03:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.06s:
-  episode_total: mean=107.91s, total=215.81s, count=2, min=3803.2ms, max=212009.0ms
-  sensor_polling: mean=519.7ms, total=155.91s, count=300, min=444.9ms, max=797.8ms
-  save_trajectories: mean=12.41s, total=12.41s, count=1, min=12409.7ms, max=12409.7ms
-  physics_step: mean=25.3ms, total=7.60s, count=300, min=19.1ms, max=63.1ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.8ms, max=4239.8ms
-  task_sampling: mean=529.4ms, total=1.06s, count=2, min=381.0ms, max=677.8ms
-  task_specific_sample: mean=525.4ms, total=1.05s, count=2, min=377.7ms, max=673.1ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
-  mj_forward_sync: mean=490.2us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:03:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
-  episode_total: mean=236.10s, total=236.10s, count=1, min=236103.7ms, max=236103.7ms
-  sensor_polling: mean=526.2ms, total=157.86s, count=300, min=454.9ms, max=930.3ms
-  save_trajectories: mean=12.98s, total=12.98s, count=1, min=12983.0ms, max=12983.0ms
-  physics_step: mean=26.4ms, total=7.91s, count=300, min=13.9ms, max=70.1ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.6ms, max=4342.6ms
-  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
-  task_specific_sample: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=576.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:03:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:03:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:03:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:03:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:03:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:03:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:03:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087094m	[env.py: 870]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:03:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89367425  0.74146984  0.08709366] yaw=-154.1deg	[env.py: 1019]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:03:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:03:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9214169   0.79946207  0.08709366] yaw=-154.6deg	[env.py: 1019]
-05/10 20:03:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:03:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:03:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:03:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:03:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048792m	[env.py: 870]
-05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:03:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85532954  0.77365451  0.08709366] yaw=-170.4deg	[env.py: 1019]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:03:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=363.9ms, total=363.9ms	[env.py: 1075]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.741, 0.087)	[env.py: 1079]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84791331  0.27606438  0.04879247] yaw=166.0deg	[env.py: 1019]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76904877  0.6297212   0.04879247] yaw=-169.7deg	[env.py: 1019]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68595704  0.32253765  0.04879247] yaw=171.8deg	[env.py: 1019]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:03:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:03:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:03:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=503.5ms, total=503.6ms	[env.py: 1075]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.276, 0.049)	[env.py: 1079]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
-05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:03:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:03:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:03:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:03:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:03:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:03:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:03:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:03:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:03:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:03:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:03:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 90.822[deg]	[grasp_sample.py: 539]
-05/10 20:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:03:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.384[m] 82.342[deg]	[grasp_sample.py: 539]
-05/10 20:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:03:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:04:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:04:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:04:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:04:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:04:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:04:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:04:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.058[m] 11.623[deg]	[grasp_sample.py: 539]
-05/10 20:04:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:04:30 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:04:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:04:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:04:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:04:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:04:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:04:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:04:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030618m	[env.py: 870]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:04:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79663588  0.55730866  0.03061809] yaw=-174.7deg	[env.py: 1019]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64269497  0.33408624  0.03061809] yaw=175.7deg	[env.py: 1019]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87379683  0.94218255  0.03061809] yaw=-152.7deg	[env.py: 1019]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:04:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms	[env.py: 1075]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.557, 0.031)	[env.py: 1079]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
-05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:04:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:04:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:04:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:04:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:04:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:04:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:04:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:04:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 79.998[deg]	[grasp_sample.py: 539]
-05/10 20:04:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:04:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:04:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:05:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:05:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:05:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:05:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:05:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.777s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:05:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.306[deg]	[grasp_sample.py: 539]
-05/10 20:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:05:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:05:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:05:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:05:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008380m	[env.py: 870]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83951672  0.65309542  0.00837957] yaw=-175.5deg	[env.py: 1019]
-05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94224853  0.42782171  0.00837957] yaw=181.9deg	[env.py: 1019]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9464837   0.83913166  0.00837957] yaw=-144.0deg	[env.py: 1019]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.1ms, total=423.2ms	[env.py: 1075]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.653, 0.008)	[env.py: 1079]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
-05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
-05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:05:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:05:21 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:05:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:05:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 101.568[deg]	[grasp_sample.py: 539]
-05/10 20:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:05:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:05:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:05:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:05:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:05:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:05:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.911[deg]	[grasp_sample.py: 539]
-05/10 20:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:05:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:05:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:05:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:06:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:06:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:06:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:06:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:06:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:06:34 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:06:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:06:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:06:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:06:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:06:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:06:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:06:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:07:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:07:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.17s (batch: 4.80s, save: 10.37s)	[pipeline.py: 300]
-05/10 20:07:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.70s:
-  episode_total: mean=213.14s, total=213.14s, count=1, min=213139.9ms, max=213139.9ms
-  sensor_polling: mean=521.1ms, total=156.32s, count=300, min=448.9ms, max=900.1ms
-  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10365.3ms, max=10365.3ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.0ms, max=67.6ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.9ms, max=4802.9ms
-  task_sampling: mean=696.9ms, total=696.9ms, count=1, min=696.9ms, max=696.9ms
-  task_specific_sample: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=479.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:07:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:07:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:07:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:07:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:07:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:07:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064616m	[env.py: 870]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:07:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73888786  0.92352233  0.06461639] yaw=-144.8deg	[env.py: 1019]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80489313  0.85103879  0.06461639] yaw=-162.2deg	[env.py: 1019]
-05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8071169  -0.00443702  0.06461639] yaw=146.2deg	[env.py: 1019]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.7ms, total=345.8ms	[env.py: 1075]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.924, 0.065)	[env.py: 1079]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
-05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
-05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:07:03 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.171s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.643[m] 85.778[deg]	[grasp_sample.py: 539]
-05/10 20:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:07:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:07:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013716m	[env.py: 870]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98818644  0.91889723  0.01371619] yaw=-141.5deg	[env.py: 1019]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88640984  0.91033985  0.01371619] yaw=-163.5deg	[env.py: 1019]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87708224  0.09301418  0.01371619] yaw=156.4deg	[env.py: 1019]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:07:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.6ms, total=92.7ms	[env.py: 1075]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.919, 0.014)	[env.py: 1079]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
-05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:07:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:07:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:07:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:07:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:07:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 94.553[deg]	[grasp_sample.py: 539]
-05/10 20:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:07:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:07:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:07:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:07:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:07:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.36s (batch: 4.40s, save: 9.96s)	[pipeline.py: 300]
-05/10 20:07:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s:
-  episode_total: mean=225.86s, total=225.86s, count=1, min=225857.7ms, max=225857.7ms
-  sensor_polling: mean=529.0ms, total=158.69s, count=300, min=461.1ms, max=1055.8ms
-  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9960.4ms, max=9960.4ms
-  physics_step: mean=27.8ms, total=8.33s, count=300, min=14.6ms, max=95.6ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.8ms, max=4397.8ms
-  task_sampling: mean=822.4ms, total=822.4ms, count=1, min=822.4ms, max=822.4ms
-  task_specific_sample: mean=817.4ms, total=817.4ms, count=1, min=817.4ms, max=817.4ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=634.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:07:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:07:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:07:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018348m	[env.py: 870]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:07:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87129868  0.73423169  0.01834826] yaw=-167.5deg	[env.py: 1019]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77306469  0.26893947  0.01834826] yaw=172.5deg	[env.py: 1019]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01722966  0.89339816  0.01834826] yaw=-147.9deg	[env.py: 1019]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms	[env.py: 1075]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.734, 0.018)	[env.py: 1079]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:07:16 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:07:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:07:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:07:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:07:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:07:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:07:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 100.600[deg]	[grasp_sample.py: 539]
-05/10 20:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:07:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:07:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:07:23 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:07:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:07:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:07:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:07:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:07:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:07:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 3.88s, save: 8.78s)	[pipeline.py: 300]
-05/10 20:07:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.89s:
-  episode_total: mean=178.30s, total=356.60s, count=2, min=151046.9ms, max=205554.7ms
-  sensor_polling: mean=533.0ms, total=268.08s, count=503, min=451.2ms, max=1142.7ms
-  physics_step: mean=26.5ms, total=13.35s, count=503, min=15.4ms, max=100.0ms
-  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8777.7ms, max=8777.7ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
-  task_sampling: mean=447.1ms, total=894.2ms, count=2, min=443.5ms, max=450.8ms
-  task_specific_sample: mean=443.6ms, total=887.1ms, count=2, min=439.7ms, max=447.5ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=410.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:07:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:07:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062228m	[env.py: 870]
-05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73826463  0.0036593   0.06222759] yaw=150.8deg	[env.py: 1019]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98665209  0.87555218  0.06222759] yaw=-143.8deg	[env.py: 1019]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98480775  0.70567432  0.06222759] yaw=-173.0deg	[env.py: 1019]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:08:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.1ms, total=383.1ms	[env.py: 1075]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.004, 0.062)	[env.py: 1079]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
-05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:08:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:08:00 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:08:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:08:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:08:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.544s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:08:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.675[m] 101.962[deg]	[grasp_sample.py: 539]
-05/10 20:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:08:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:08:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022432m	[env.py: 870]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79041998  0.46077208  0.02243246] yaw=168.0deg	[env.py: 1019]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71363253  0.74437145  0.02243246] yaw=-154.6deg	[env.py: 1019]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0242722   1.18575682  0.02243246] yaw=-137.7deg	[env.py: 1019]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms	[env.py: 1075]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.461, 0.022)	[env.py: 1079]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
-05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:08:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:08:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.504[m] 97.914[deg]	[grasp_sample.py: 539]
-05/10 20:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:08:12 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:08:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:08:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:08:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:08:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:08:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:08:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:08:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.78s (batch: 4.71s, save: 9.07s)	[pipeline.py: 300]
-05/10 20:08:55 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.28s:
-  episode_total: mean=190.29s, total=380.58s, count=2, min=166038.3ms, max=214545.9ms
-  sensor_polling: mean=526.0ms, total=298.25s, count=567, min=451.2ms, max=998.9ms
-  physics_step: mean=25.0ms, total=14.16s, count=567, min=17.7ms, max=66.5ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9065.8ms, max=9065.8ms
-  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.9ms, max=4714.9ms
-  task_sampling: mean=640.5ms, total=1.28s, count=2, min=479.8ms, max=801.2ms
-  task_specific_sample: mean=636.4ms, total=1.27s, count=2, min=475.4ms, max=797.5ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
-  mj_forward_sync: mean=546.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:08:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:08:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016508m	[env.py: 870]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86068619  0.55693989  0.01650806] yaw=-171.6deg	[env.py: 1019]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72526702  0.50716635  0.01650806] yaw=-170.8deg	[env.py: 1019]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85204273  0.98649189  0.01650806] yaw=-140.8deg	[env.py: 1019]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.6ms, total=370.6ms	[env.py: 1075]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.557, 0.017)	[env.py: 1079]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
-05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:08:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:08:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:08:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:08:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:08:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:08:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:08:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.030s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:08:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.390[m] 83.052[deg]	[grasp_sample.py: 539]
-05/10 20:08:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:08:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:08:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:09:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:09:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:09:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:09:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:09:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:09:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:09:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:10:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:10:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:10:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:10:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:10:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:10:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:10:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:10:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:10:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:10:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.59s (batch: 4.38s, save: 9.21s)	[pipeline.py: 300]
-05/10 20:10:33 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.01s:
-  episode_total: mean=104.44s, total=208.88s, count=2, min=5203.0ms, max=203672.6ms
-  sensor_polling: mean=506.4ms, total=151.91s, count=300, min=434.7ms, max=815.0ms
-  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.9ms, max=9209.9ms
-  physics_step: mean=24.9ms, total=7.48s, count=300, min=15.1ms, max=100.5ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.9ms, max=4379.9ms
-  task_sampling: mean=507.2ms, total=1.01s, count=2, min=373.1ms, max=641.3ms
-  task_specific_sample: mean=503.4ms, total=1.01s, count=2, min=370.1ms, max=636.6ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=488.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:10:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:10:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:10:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:10:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:10:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011212m	[env.py: 870]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89366691  0.57811514  0.01121235] yaw=-168.5deg	[env.py: 1019]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11284958  1.19406451  0.01121235] yaw=-125.0deg	[env.py: 1019]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:10:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms	[env.py: 1075]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.578, 0.011)	[env.py: 1079]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
-05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:10:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:10:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:10:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:10:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:10:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:10:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:10:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 89.105[deg]	[grasp_sample.py: 539]
-05/10 20:10:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:10:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:10:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:10:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:10:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:10:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.83s (batch: 4.10s, save: 8.74s)	[pipeline.py: 300]
-05/10 20:10:40 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.53s:
-  episode_total: mean=205.22s, total=205.22s, count=1, min=205222.3ms, max=205222.3ms
-  sensor_polling: mean=522.3ms, total=156.69s, count=300, min=452.0ms, max=899.3ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.9ms, max=8735.9ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.8ms, max=65.5ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.4ms, max=4096.4ms
-  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
-  task_specific_sample: mean=521.9ms, total=521.9ms, count=1, min=521.9ms, max=521.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:10:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:10:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:10:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:10:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:10:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:10:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:10:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056383m	[env.py: 870]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:10:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86354097  0.64512573  0.05638315] yaw=-161.2deg	[env.py: 1019]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02717345  1.13850148  0.05638315] yaw=-139.3deg	[env.py: 1019]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87215456  0.62337265  0.05638315] yaw=-167.1deg	[env.py: 1019]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:10:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=149.0ms	[env.py: 1075]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.645, 0.056)	[env.py: 1079]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
-05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:10:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:10:42 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:10:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:10:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:10:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:10:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.836[deg]	[grasp_sample.py: 539]
-05/10 20:10:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:10:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:10:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:10:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:10:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:10:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:10:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:10:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.204[deg]	[grasp_sample.py: 539]
-05/10 20:10:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:10:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:10:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:11:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:11:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:11:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:11:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:11:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:11:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:11:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:11:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:12:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:12:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:12:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.91s (batch: 4.57s, save: 9.34s)	[pipeline.py: 300]
-05/10 20:12:03 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.07s:
-  episode_total: mean=120.94s, total=241.88s, count=2, min=6396.8ms, max=235480.8ms
-  sensor_polling: mean=532.8ms, total=159.85s, count=300, min=447.9ms, max=782.6ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.7ms, max=9337.7ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=14.4ms, max=57.8ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4569.3ms, max=4569.3ms
-  task_sampling: mean=536.6ms, total=1.07s, count=2, min=405.2ms, max=668.0ms
-  task_specific_sample: mean=532.6ms, total=1.07s, count=2, min=401.8ms, max=663.4ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms
-  mj_forward_sync: mean=546.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:12:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:12:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:12:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015821m	[env.py: 870]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.8ms, total=302.8ms	[env.py: 1105]
-05/10 20:12:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 20:12:05 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 20:12:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:12:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:12:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:12:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:12:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:12:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:12:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093051m	[env.py: 870]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:12:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97801491  1.05628099  0.09305069] yaw=-146.3deg	[env.py: 1019]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90851656  0.35368098  0.09305069] yaw=171.9deg	[env.py: 1019]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79425182  0.49690505  0.09305069] yaw=-189.5deg	[env.py: 1019]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.6ms, total=415.6ms	[env.py: 1075]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.056, 0.093)	[env.py: 1079]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
-05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:12:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:12:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:12:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:12:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:12:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:12:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:12:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.668s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:12:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 94.810[deg]	[grasp_sample.py: 539]
-05/10 20:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:12:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:12:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:12:14 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 20:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.96s (batch: 4.62s, save: 9.33s)	[pipeline.py: 300]
-05/10 20:12:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
-  episode_total: mean=211.91s, total=211.91s, count=1, min=211906.3ms, max=211906.3ms
-  sensor_polling: mean=522.8ms, total=156.32s, count=299, min=456.8ms, max=860.0ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9331.7ms, max=9331.7ms
-  physics_step: mean=25.2ms, total=7.55s, count=299, min=18.7ms, max=59.8ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4623.7ms, max=4623.7ms
-  task_sampling: mean=740.2ms, total=740.2ms, count=1, min=740.2ms, max=740.2ms
-  task_specific_sample: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
-  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:12:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:12:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:12:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:12:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:12:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013338m	[env.py: 870]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7570384   0.26022629  0.01333754] yaw=168.5deg	[env.py: 1019]
-05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73632854  0.03981732  0.01333754] yaw=160.0deg	[env.py: 1019]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.260, 0.013)	[env.py: 1079]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg	[env.py: 1082]
-05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:12:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:12:31 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:12:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:12:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:12:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:12:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.173[deg]	[grasp_sample.py: 539]
-05/10 20:12:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:12:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:12:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:13:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:13:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:13:27 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:13:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:13:32 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:13:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:13:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:13:49 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:13:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:13:49 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 20:13:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:13:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:13:53 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 20:14:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:14:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:14:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.99s (batch: 4.29s, save: 8.70s)	[pipeline.py: 300]
-05/10 20:14:02 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
-  episode_total: mean=208.06s, total=208.06s, count=1, min=208059.1ms, max=208059.1ms
-  sensor_polling: mean=525.2ms, total=155.98s, count=297, min=450.7ms, max=782.8ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8698.2ms, max=8698.2ms
-  physics_step: mean=26.5ms, total=7.87s, count=297, min=15.8ms, max=61.8ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.4ms, max=4290.4ms
-  task_sampling: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
-  task_specific_sample: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:14:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:14:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:14:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:14:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:14:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:14:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:14:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073920m	[env.py: 870]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:14:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70838269  0.56915282  0.07391988] yaw=-178.4deg	[env.py: 1019]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62519264  0.2803166   0.07391988] yaw=180.8deg	[env.py: 1019]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88792558  0.21896213  0.07391988] yaw=158.3deg	[env.py: 1019]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:14:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.5ms	[env.py: 1075]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.569, 0.074)	[env.py: 1079]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg	[env.py: 1082]
-05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:14:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:14:04 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:14:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:14:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:14:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:14:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:14:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:14:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:14:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.41s (batch: 4.03s, save: 8.38s)	[pipeline.py: 300]
-05/10 20:14:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:14:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.611[m] 102.858[deg]	[grasp_sample.py: 539]
-05/10 20:14:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:14:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=203.87s, total=203.87s, count=1, min=203870.5ms, max=203870.5ms
-  sensor_polling: mean=518.9ms, total=155.15s, count=299, min=440.2ms, max=869.5ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.2ms, max=8377.2ms
-  physics_step: mean=25.1ms, total=7.50s, count=299, min=15.4ms, max=45.9ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
-  task_sampling: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
-  task_specific_sample: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:14:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:14:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:14:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:14:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:14:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:14:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:14:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:14:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:14:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059493m	[env.py: 870]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:14:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88471718  0.98891332  0.05949306] yaw=-138.4deg	[env.py: 1019]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7178964   0.11882213  0.05949306] yaw=158.2deg	[env.py: 1019]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88644938  0.72659243  0.05949306] yaw=-156.5deg	[env.py: 1019]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:14:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.5ms	[env.py: 1075]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.989, 0.059)	[env.py: 1079]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
-05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:14:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:14:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:14:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:14:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:14:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:14:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:14:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:14:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.045[deg]	[grasp_sample.py: 539]
-05/10 20:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:14:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:14:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:15:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:15:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:15:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:15:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:15:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:15:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:15:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:15:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:15:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:15:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:15:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:15:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.65s (batch: 4.41s, save: 11.24s)	[pipeline.py: 300]
-05/10 20:15:46 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.70s:
-  episode_total: mean=109.79s, total=219.59s, count=2, min=316.6ms, max=219269.3ms
-  sensor_polling: mean=521.0ms, total=156.31s, count=300, min=444.4ms, max=1022.0ms
-  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.8ms, max=11239.8ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.5ms, max=64.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.8ms, max=4411.8ms
-  task_specific_sample: mean=504.6ms, total=1.01s, count=2, min=309.7ms, max=699.4ms
-  task_sampling: mean=702.8ms, total=702.8ms, count=1, min=702.8ms, max=702.8ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
-  mj_forward_sync: mean=600.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:15:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:15:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:15:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:15:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:15:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:15:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:15:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061789m	[env.py: 870]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:15:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71439009  0.70118447  0.06178923] yaw=-173.1deg	[env.py: 1019]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81502998  0.44651377  0.06178923] yaw=166.7deg	[env.py: 1019]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91692036  0.1795625   0.06178923] yaw=162.7deg	[env.py: 1019]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms	[env.py: 1075]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.701, 0.062)	[env.py: 1079]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
-05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:15:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:15:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:15:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.536[m] 86.985[deg]	[grasp_sample.py: 539]
-05/10 20:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:15:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:15:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:15:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:15:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:15:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:16:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:16:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:16:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.48s (batch: 4.22s, save: 9.25s)	[pipeline.py: 300]
-05/10 20:16:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.63s:
-  episode_total: mean=220.61s, total=220.61s, count=1, min=220606.3ms, max=220606.3ms
-  sensor_polling: mean=526.1ms, total=157.83s, count=300, min=449.5ms, max=974.1ms
-  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9251.6ms, max=9251.6ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.2ms, max=125.1ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.6ms, max=4223.6ms
-  task_sampling: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
-  task_specific_sample: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=574.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:16:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:16:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010323m	[env.py: 870]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75624644  0.87812877  0.01032255] yaw=-156.6deg	[env.py: 1019]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09380131  0.97515665  0.01032255] yaw=-141.4deg	[env.py: 1019]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71703413  0.78134678  0.01032255] yaw=-173.6deg	[env.py: 1019]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms	[env.py: 1075]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.878, 0.010)	[env.py: 1079]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
-05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:16:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:16:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:16:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:16:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.582[m] 86.379[deg]	[grasp_sample.py: 539]
-05/10 20:16:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:16:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:16:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:16:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:16:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:16:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:16:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:16:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:17:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:17:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:17:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:17:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:17:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:17:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:17:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:17:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:17:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:17:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.90s (batch: 4.42s, save: 8.49s)	[pipeline.py: 300]
-05/10 20:17:31 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
-  episode_total: mean=206.78s, total=206.78s, count=1, min=206779.6ms, max=206779.6ms
-  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=437.9ms, max=903.5ms
-  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.2ms, max=8485.2ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.5ms, max=88.0ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4418.8ms, max=4418.8ms
-  task_sampling: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  task_specific_sample: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:17:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:17:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.24s (batch: 4.17s, save: 8.08s)	[pipeline.py: 300]
-05/10 20:17:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:17:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:17:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:17:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:17:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:17:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042313m	[env.py: 870]
-05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:17:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10014243  1.00152518  0.04231266] yaw=-137.0deg	[env.py: 1019]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88700679  1.00929081  0.04231266] yaw=-155.9deg	[env.py: 1019]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87545255  0.14174766  0.04231266] yaw=163.3deg	[env.py: 1019]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:17:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.002, 0.042)	[env.py: 1079]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
-05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
-05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:33 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
-  episode_total: mean=205.31s, total=205.31s, count=1, min=205308.1ms, max=205308.1ms
-  sensor_polling: mean=519.3ms, total=155.80s, count=300, min=443.4ms, max=1083.2ms
-  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8077.3ms, max=8077.3ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.5ms, max=72.4ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4166.2ms, max=4166.2ms
-  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
-  task_specific_sample: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:17:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:17:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:17:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:17:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:17:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:17:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:17:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:17:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 84.547[deg]	[grasp_sample.py: 539]
-05/10 20:17:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:17:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:17:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:17:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006236m	[env.py: 870]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69326567  0.87891251  0.00623648] yaw=-163.2deg	[env.py: 1019]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67747115  0.73378534  0.00623648] yaw=-155.1deg	[env.py: 1019]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.1ms, total=256.1ms	[env.py: 1075]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.879, 0.006)	[env.py: 1079]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
-05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
-05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:17:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:17:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:17:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.043[deg]	[grasp_sample.py: 539]
-05/10 20:17:38 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:17:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097137m	[env.py: 870]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02393191  0.84978143  0.09713699] yaw=-155.2deg	[env.py: 1019]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8552833   0.51619355  0.09713699] yaw=-175.2deg	[env.py: 1019]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97405118  1.1302358   0.09713699] yaw=-138.3deg	[env.py: 1019]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.0ms, total=231.1ms	[env.py: 1075]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.850, 0.097)	[env.py: 1079]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
-05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:17:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:17:40 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:17:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:17:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:17:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 85.103[deg]	[grasp_sample.py: 539]
-05/10 20:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:18:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:18:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:18:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:18:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:18:25 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:18:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:18:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:18:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:18:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:18:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:18:55 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:18:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:18:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:18:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.61s (batch: 4.24s, save: 8.38s)	[pipeline.py: 300]
-05/10 20:18:59 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.80s, total=190.80s, count=1, min=190801.9ms, max=190801.9ms
-  sensor_polling: mean=485.0ms, total=145.51s, count=300, min=441.9ms, max=796.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=18.6ms, max=66.4ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
-  task_sampling: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
-  task_specific_sample: mean=513.1ms, total=513.1ms, count=1, min=513.1ms, max=513.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=572.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:19:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:19:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:19:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:19:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010988m	[env.py: 870]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97231788  0.16879516  0.01098772] yaw=154.2deg	[env.py: 1019]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87106898  0.92219402  0.01098772] yaw=-162.9deg	[env.py: 1019]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.5ms, total=248.5ms	[env.py: 1075]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.169, 0.011)	[env.py: 1079]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
-05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:19:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:19:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:19:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:19:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:19:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:19:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:19:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:19:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.342[m] 87.277[deg]	[grasp_sample.py: 539]
-05/10 20:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:19:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:19:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:19:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:19:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.49s (batch: 4.16s, save: 8.33s)	[pipeline.py: 300]
-05/10 20:19:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=196.03s, total=196.03s, count=1, min=196027.6ms, max=196027.6ms
-  sensor_polling: mean=490.4ms, total=147.11s, count=300, min=441.8ms, max=742.3ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8329.7ms, max=8329.7ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=18.2ms, max=39.8ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4160.8ms, max=4160.8ms
-  task_sampling: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
-  task_specific_sample: mean=485.9ms, total=485.9ms, count=1, min=485.9ms, max=485.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=528.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:19:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:19:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085264m	[env.py: 870]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0040099   0.89896518  0.0852638 ] yaw=-158.4deg	[env.py: 1019]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms	[env.py: 1075]
-05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.899, 0.085)	[env.py: 1079]
-05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
-05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:19:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:19:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:19:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:19:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 93.968[deg]	[grasp_sample.py: 539]
-05/10 20:19:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:19:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:19:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:19:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:19:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:19:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:20:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.664s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:20:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]	[grasp_sample.py: 539]
-05/10 20:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:20:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:20:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:20:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073074m	[env.py: 870]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94354237  1.2767228   0.07307385] yaw=-133.3deg	[env.py: 1019]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06686693  0.9350509   0.07307385] yaw=-140.0deg	[env.py: 1019]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06684785  1.09776606  0.07307385] yaw=-127.3deg	[env.py: 1019]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms	[env.py: 1075]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 1.277, 0.073)	[env.py: 1079]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg	[env.py: 1082]
-05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:20:10 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:20:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:20:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:20:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.565s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 20:20:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 20:20:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:20:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:20:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:20:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:20:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:20:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:20:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095677m	[env.py: 870]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:20:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72989409  0.58238703  0.09567691] yaw=-165.5deg	[env.py: 1019]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87669165  0.10260941  0.09567691] yaw=166.0deg	[env.py: 1019]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00511136  1.06358392  0.09567691] yaw=-132.6deg	[env.py: 1019]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:20:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms	[env.py: 1075]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.582, 0.096)	[env.py: 1079]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
-05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:20:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:20:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:20:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:20:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:20:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 97.970[deg]	[grasp_sample.py: 539]
-05/10 20:20:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:20:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:20:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:20:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:20:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:20:33 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 20:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:20:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:20:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.92s (batch: 4.26s, save: 8.65s)	[pipeline.py: 300]
-05/10 20:20:47 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
-  episode_total: mean=95.32s, total=190.63s, count=2, min=3476.5ms, max=187155.9ms
-  sensor_polling: mean=486.8ms, total=142.64s, count=293, min=453.7ms, max=749.3ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8652.9ms, max=8652.9ms
-  physics_step: mean=22.6ms, total=6.63s, count=293, min=16.6ms, max=55.9ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.4ms, max=4262.4ms
-  task_sampling: mean=538.3ms, total=1.08s, count=2, min=521.0ms, max=555.6ms
-  task_specific_sample: mean=534.5ms, total=1.07s, count=2, min=517.9ms, max=551.1ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=445.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:20:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:20:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:20:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080733m	[env.py: 870]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8959144   0.39965657  0.08073316] yaw=176.8deg	[env.py: 1019]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81870014  0.53109804  0.08073316] yaw=-181.0deg	[env.py: 1019]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6482055   0.50628574  0.08073316] yaw=-188.7deg	[env.py: 1019]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms	[env.py: 1075]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.400, 0.081)	[env.py: 1079]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
-05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:20:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:20:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:20:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:20:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:20:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:20:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:20:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.342[m] 85.876[deg]	[grasp_sample.py: 539]
-05/10 20:20:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:20:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:20:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:21:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:21:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:21:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:21:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:21:02 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:21:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.022[m] 1.421[deg]	[grasp_sample.py: 539]
-05/10 20:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:21:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:21:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:21:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:21:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:21:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:21:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:21:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:21:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:21:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:21:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.952[deg]	[grasp_sample.py: 539]
-05/10 20:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:21:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:21:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:21:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:21:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:21:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091143m	[env.py: 870]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6681564   0.63475783  0.09114342] yaw=-172.1deg	[env.py: 1019]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86639419  0.93005089  0.09114342] yaw=-162.7deg	[env.py: 1019]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9244916   0.19179997  0.09114342] yaw=161.1deg	[env.py: 1019]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms	[env.py: 1075]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.668, 0.635, 0.091)	[env.py: 1079]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
-05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:21:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:21:50 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:21:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:21:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 85.611[deg]	[grasp_sample.py: 539]
-05/10 20:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:22:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:22:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:22:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:22:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:22:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:22:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:22:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:22:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.570[deg]	[grasp_sample.py: 539]
-05/10 20:22:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:22:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:22:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.65s (batch: 3.85s, save: 8.80s)	[pipeline.py: 300]
-05/10 20:22:40 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s:
-  episode_total: mean=189.58s, total=189.58s, count=1, min=189584.0ms, max=189584.0ms
-  sensor_polling: mean=483.9ms, total=145.17s, count=300, min=440.3ms, max=757.0ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8798.1ms, max=8798.1ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.5ms, max=32.2ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.9ms, max=3851.9ms
-  task_sampling: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
-  task_specific_sample: mean=537.9ms, total=537.9ms, count=1, min=537.9ms, max=537.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:22:40 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:22:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035040m	[env.py: 870]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92690517  1.23730249  0.03504019] yaw=-131.7deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76643389  0.89484973  0.03504019] yaw=-149.3deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79517288  1.09174037  0.03504019] yaw=-139.7deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms	[env.py: 1075]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 1.237, 0.035)	[env.py: 1079]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:22:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039093m	[env.py: 870]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65915256  0.1350582   0.03909308] yaw=162.1deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92861816  0.4686103   0.03909308] yaw=182.2deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85250587  1.11219742  0.03909308] yaw=-154.3deg	[env.py: 1019]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms	[env.py: 1075]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.135, 0.039)	[env.py: 1079]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
-05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:22:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:22:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:22:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:22:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:22:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:22:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:22:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:22:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:22:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.699[m] 103.046[deg]	[grasp_sample.py: 539]
-05/10 20:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:22:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.591s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 20:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 20:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:22:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:22:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091219m	[env.py: 870]
-05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790168  0.26433194  0.09121896] yaw=171.7deg	[env.py: 1019]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95438997  0.56836061  0.09121896] yaw=-183.5deg	[env.py: 1019]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:22:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.2ms, total=287.3ms	[env.py: 1075]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.264, 0.091)	[env.py: 1079]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
-05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:22:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:22:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:22:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:22:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:22:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:22:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:22:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 91.883[deg]	[grasp_sample.py: 539]
-05/10 20:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:22:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:22:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:22:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:23:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:23:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:23:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:23:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:23:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:23:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:23:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:23:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.66s (batch: 4.42s, save: 9.24s)	[pipeline.py: 300]
-05/10 20:23:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:23:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.29s:
-  episode_total: mean=115.09s, total=345.27s, count=3, min=2067.7ms, max=187431.5ms
-  sensor_polling: mean=471.1ms, total=275.12s, count=584, min=440.0ms, max=752.2ms
-  physics_step: mean=22.2ms, total=12.95s, count=584, min=16.6ms, max=61.6ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9240.6ms, max=9240.6ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.5ms, max=4420.5ms
-  task_sampling: mean=430.8ms, total=1.29s, count=3, min=400.4ms, max=449.3ms
-  task_specific_sample: mean=427.2ms, total=1.28s, count=3, min=397.3ms, max=445.5ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=426.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:23:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:23:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:23:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:23:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:23:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:23:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:23:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071713m	[env.py: 870]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:23:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02307979  1.25787344  0.0717127 ] yaw=-130.8deg	[env.py: 1019]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69164089  0.46860799  0.0717127 ] yaw=190.5deg	[env.py: 1019]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74155942  0.53923079  0.0717127 ] yaw=-175.1deg	[env.py: 1019]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:23:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.3ms	[env.py: 1075]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.258, 0.072)	[env.py: 1079]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
-05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:23:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:23:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:23:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:23:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:23:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:23:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:23:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.108s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:23:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.651[m] 93.763[deg]	[grasp_sample.py: 539]
-05/10 20:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:23:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:23:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:23:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:23:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:23:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:24:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:24:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:24:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:24:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:24:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:24:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:24:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.490[deg]	[grasp_sample.py: 539]
-05/10 20:24:18 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:24:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:24:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:24:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051210m	[env.py: 870]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73767431  0.96751507  0.05120979] yaw=-161.6deg	[env.py: 1019]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77028222  0.99801373  0.05120979] yaw=-157.8deg	[env.py: 1019]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78661525  0.30099203  0.05120979] yaw=157.6deg	[env.py: 1019]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms	[env.py: 1075]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.968, 0.051)	[env.py: 1079]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
-05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:24:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:24:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:24:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:24:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:24:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:24:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:24:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.716s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:24:23 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.653[m] 86.753[deg]	[grasp_sample.py: 539]
-05/10 20:24:23 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:24:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:24:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:24:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:24:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:24:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:24:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:24:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:24:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021149m	[env.py: 870]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:24:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8639952   0.71136026  0.02114949] yaw=-158.6deg	[env.py: 1019]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88837796  0.76345529  0.02114949] yaw=-151.7deg	[env.py: 1019]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70002424  0.54065946  0.02114949] yaw=-176.5deg	[env.py: 1019]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:24:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.711, 0.021)	[env.py: 1079]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg	[env.py: 1082]
-05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:24:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:24:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:24:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 86.908[deg]	[grasp_sample.py: 539]
-05/10 20:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:24:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:49 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:24:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:24:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:24:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:24:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:24:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:24:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.184[deg]	[grasp_sample.py: 539]
-05/10 20:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:25:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:25:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.39s (batch: 4.40s, save: 9.99s)	[pipeline.py: 300]
-05/10 20:25:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.98s:
-  episode_total: mean=181.21s, total=362.43s, count=2, min=166958.1ms, max=195467.5ms
-  sensor_polling: mean=482.2ms, total=265.22s, count=550, min=438.7ms, max=855.9ms
-  physics_step: mean=22.1ms, total=12.13s, count=550, min=15.6ms, max=64.6ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9993.9ms, max=9993.9ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.4ms, max=4398.4ms
-  task_sampling: mean=488.3ms, total=976.5ms, count=2, min=413.0ms, max=563.5ms
-  task_specific_sample: mean=484.8ms, total=969.5ms, count=2, min=409.6ms, max=559.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=438.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:25:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097386m	[env.py: 870]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12791297  1.00729256  0.09738632] yaw=-138.6deg	[env.py: 1019]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85027696  0.30447728  0.09738632] yaw=167.4deg	[env.py: 1019]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16117418  1.05788775  0.09738632] yaw=-142.9deg	[env.py: 1019]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.0ms	[env.py: 1075]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.007, 0.097)	[env.py: 1079]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
-05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:25:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:25:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:25:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:25:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:25:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 75.979[deg]	[grasp_sample.py: 539]
-05/10 20:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:25:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:25:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:25:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:25:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:25:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:25:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:25:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:25:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:25:43 INFO: [Worker 0] Feasibility-checked 82 grasps in 3.870s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 20:25:43 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 20:25:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 20:25:43 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.87s:
-  episode_total: mean=146.33s, total=292.66s, count=2, min=111387.6ms, max=181271.8ms
-  sensor_polling: mean=497.3ms, total=244.67s, count=492, min=445.8ms, max=847.8ms
-  physics_step: mean=23.8ms, total=11.70s, count=492, min=14.5ms, max=81.0ms
-  task_sampling: mean=435.2ms, total=870.3ms, count=2, min=420.0ms, max=450.4ms
-  task_specific_sample: mean=431.1ms, total=862.3ms, count=2, min=416.3ms, max=446.0ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.0ms, max=2.4ms
-  mj_forward_sync: mean=552.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:25:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021879m	[env.py: 870]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:25:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076943m	[env.py: 870]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69991331  0.91144182  0.0769429 ] yaw=-150.5deg	[env.py: 1019]
-05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80950004  0.57543817  0.0769429 ] yaw=-163.1deg	[env.py: 1019]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91463289  0.15407389  0.0769429 ] yaw=146.9deg	[env.py: 1019]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=712.4ms, total=712.5ms	[env.py: 1075]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.911, 0.077)	[env.py: 1079]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
-05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=967.5ms, total=967.6ms	[env.py: 1105]
-05/10 20:25:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 20:25:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 20:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:25:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:25:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:25:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:25:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:25:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076463m	[env.py: 870]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8200157   0.55872999  0.07646286] yaw=-185.4deg	[env.py: 1019]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83766805  1.12004051  0.07646286] yaw=-135.2deg	[env.py: 1019]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20940059  1.08617365  0.07646286] yaw=-125.0deg	[env.py: 1019]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms	[env.py: 1075]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.559, 0.076)	[env.py: 1079]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.4 deg	[env.py: 1082]
-05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:25:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:25:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:25:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:25:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:25:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:25:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:25:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.994s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:25:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 94.128[deg]	[grasp_sample.py: 539]
-05/10 20:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 88.165[deg]	[grasp_sample.py: 539]
-05/10 20:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:25:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:25:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:26:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:26:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:26:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:26:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:26:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:27:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:27:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:27:19 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:27:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:27:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:27:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:27:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:27:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:27:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:27:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:27:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:27:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:27:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:27:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:27:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.53s (batch: 4.18s, save: 8.35s)	[pipeline.py: 300]
-05/10 20:27:52 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.95s:
-  episode_total: mean=76.36s, total=305.44s, count=4, min=2247.4ms, max=206557.4ms
-  sensor_polling: mean=519.2ms, total=234.69s, count=452, min=450.6ms, max=1042.7ms
-  physics_step: mean=25.2ms, total=11.40s, count=452, min=16.3ms, max=97.7ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.2ms, max=8350.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.7ms, max=4176.7ms
-  task_sampling: mean=487.9ms, total=1.95s, count=4, min=398.8ms, max=577.9ms
-  task_specific_sample: mean=484.4ms, total=1.94s, count=4, min=395.8ms, max=574.6ms
-  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=435.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:27:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:27:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.326[deg]	[grasp_sample.py: 539]
-05/10 20:27:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:27:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:27:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:27:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:27:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:27:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:27:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059389m	[env.py: 870]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:27:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78990939  0.83772471  0.05938926] yaw=-150.5deg	[env.py: 1019]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01370978  1.11908092  0.05938926] yaw=-135.2deg	[env.py: 1019]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91766541  0.97892175  0.05938926] yaw=-143.8deg	[env.py: 1019]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:27:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms	[env.py: 1075]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.838, 0.059)	[env.py: 1079]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:27:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:27:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:27:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:27:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:27:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:27:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:27:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:27:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.312s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:27:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 89.059[deg]	[grasp_sample.py: 539]
-05/10 20:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:27:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:27:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:27:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:27:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:27:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:27:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:27:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083428m	[env.py: 870]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:27:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:27:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:27:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89933503  0.86665457  0.0834276 ] yaw=-161.6deg	[env.py: 1019]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69978329  0.70979182  0.0834276 ] yaw=-160.0deg	[env.py: 1019]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87381205  0.15941204  0.0834276 ] yaw=153.7deg	[env.py: 1019]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:27:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.4ms, total=523.5ms	[env.py: 1075]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.867, 0.083)	[env.py: 1079]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
-05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:27:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:27:58 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:27:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:27:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.599s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:27:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 91.132[deg]	[grasp_sample.py: 539]
-05/10 20:27:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:28:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:28:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:28:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:28:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:28:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:28:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:28:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:28:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.166[deg]	[grasp_sample.py: 539]
-05/10 20:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:28:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:28:35 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:28:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:28:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:29:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:29:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:29:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:29:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:29:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:29:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 20:29:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:29:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:29:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:29:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.004s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:29:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.117[m] 2.408[deg]	[grasp_sample.py: 539]
-05/10 20:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:29:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:29:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:29:16 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 20:29:16 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.28s:
-  episode_total: mean=116.46s, total=349.39s, count=3, min=1000.1ms, max=208372.2ms
-  sensor_polling: mean=510.6ms, total=267.03s, count=523, min=445.1ms, max=929.4ms
-  physics_step: mean=24.7ms, total=12.90s, count=523, min=16.8ms, max=109.9ms
-  task_specific_sample: mean=748.8ms, total=2.25s, count=3, min=458.6ms, max=972.9ms
-  task_sampling: mean=640.8ms, total=1.28s, count=2, min=462.2ms, max=819.4ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=506.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:29:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:29:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:29:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:29:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.31s (batch: 6.02s, save: 9.29s)	[pipeline.py: 300]
-05/10 20:29:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.09s:
-  episode_total: mean=212.85s, total=212.85s, count=1, min=212846.1ms, max=212846.1ms
-  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=439.8ms, max=990.5ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.3ms, max=9289.3ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.3ms, max=114.3ms
-  save_batch_prep: mean=6.02s, total=6.02s, count=1, min=6019.5ms, max=6019.5ms
-  task_sampling: mean=1.09s, total=1.09s, count=1, min=1089.6ms, max=1089.6ms
-  task_specific_sample: mean=1.09s, total=1.09s, count=1, min=1085.1ms, max=1085.1ms
-  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  mj_forward_sync: mean=631.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:29:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:29:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:29:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:29:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:29:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:29:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:29:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004707m	[env.py: 870]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:29:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90903105  0.28436941  0.004707  ] yaw=170.1deg	[env.py: 1019]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14213062  1.00954712  0.004707  ] yaw=-125.8deg	[env.py: 1019]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385513  0.17704352  0.004707  ] yaw=160.1deg	[env.py: 1019]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:29:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.1ms, total=460.2ms	[env.py: 1075]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.284, 0.005)	[env.py: 1079]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
-05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
-05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:29:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:29:19 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:29:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:29:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:29:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:29:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:29:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:29:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:29:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:29:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061030m	[env.py: 870]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87587662  0.07695893  0.06103033] yaw=154.5deg	[env.py: 1019]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68943176  0.66044492  0.06103033] yaw=-180.6deg	[env.py: 1019]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17400029  1.13292563  0.06103033] yaw=-127.8deg	[env.py: 1019]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms	[env.py: 1075]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.077, 0.061)	[env.py: 1079]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg	[env.py: 1082]
-05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:29:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:29:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 97.202[deg]	[grasp_sample.py: 539]
-05/10 20:29:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:29:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:29:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:29:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:29:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:29:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:29:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:29:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:29:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:29:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:29:22 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.466[m] 79.994[deg]	[grasp_sample.py: 539]
-05/10 20:29:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:30:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:30:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:30:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:30:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:30:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:30:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:31:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:31:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:31:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:31:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:31:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:31:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:31:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:31:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:31:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.65s (batch: 4.19s, save: 10.46s)	[pipeline.py: 300]
-05/10 20:31:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s:
-  episode_total: mean=210.00s, total=210.00s, count=1, min=210001.9ms, max=210001.9ms
-  sensor_polling: mean=532.8ms, total=159.83s, count=300, min=449.6ms, max=1004.7ms
-  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10461.8ms, max=10461.8ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.0ms, max=98.6ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.2ms, max=4188.2ms
-  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
-  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=619.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.53s (batch: 4.31s, save: 10.22s)	[pipeline.py: 300]
-05/10 20:31:25 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.37s:
-  episode_total: mean=188.08s, total=376.16s, count=2, min=167820.9ms, max=208339.1ms
-  sensor_polling: mean=521.8ms, total=300.01s, count=575, min=442.4ms, max=968.0ms
-  physics_step: mean=26.1ms, total=15.02s, count=575, min=18.2ms, max=113.4ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.7ms, max=10216.7ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.8ms, max=4311.8ms
-  task_sampling: mean=684.1ms, total=1.37s, count=2, min=559.6ms, max=808.7ms
-  task_specific_sample: mean=676.4ms, total=1.35s, count=2, min=555.7ms, max=797.1ms
-  scene_randomize: mean=6.1ms, total=12.1ms, count=2, min=2.5ms, max=9.6ms
-  mj_forward_sync: mean=538.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:31:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:31:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:31:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012497m	[env.py: 870]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70668854  0.85565068  0.01249682] yaw=-164.7deg	[env.py: 1019]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87570034  0.12019713  0.01249682] yaw=149.7deg	[env.py: 1019]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.997197    1.17193451  0.01249682] yaw=-133.5deg	[env.py: 1019]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:31:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.6ms, total=329.7ms	[env.py: 1075]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.856, 0.012)	[env.py: 1079]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
-05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:31:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:31:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:31:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:31:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:31:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:31:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:31:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058882m	[env.py: 870]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08819506  0.97536592  0.05888197] yaw=-147.3deg	[env.py: 1019]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09744337  1.00202373  0.05888197] yaw=-133.6deg	[env.py: 1019]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92629682  0.29605768  0.05888197] yaw=167.8deg	[env.py: 1019]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.0ms, total=179.1ms	[env.py: 1075]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.088, 0.975, 0.059)	[env.py: 1079]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:31:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:31:27 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:31:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:31:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 80.596[deg]	[grasp_sample.py: 539]
-05/10 20:31:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:31:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:31:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:31:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.659[m] 90.006[deg]	[grasp_sample.py: 539]
-05/10 20:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:31:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:31:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:31:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:31:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:31:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:31:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.625[deg]	[grasp_sample.py: 539]
-05/10 20:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:31:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:31:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:32:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:32:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:32:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:32:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:25 INFO: [Worker 0] Feasibility-checked 72 grasps in 1.081s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:32:25 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.323[deg]	[grasp_sample.py: 539]
-05/10 20:32:27 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:32:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:32:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002786m	[env.py: 870]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0424516   1.14962844  0.00278648] yaw=-130.8deg	[env.py: 1019]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76309927 -0.02563752  0.00278648] yaw=161.1deg	[env.py: 1019]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:32:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.7ms, total=351.8ms	[env.py: 1075]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.150, 0.003)	[env.py: 1079]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
-05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:32:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:32:30 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:32:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:32:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.529[m] 87.157[deg]	[grasp_sample.py: 539]
-05/10 20:32:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:32:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:32:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:32:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:32:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:32:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:32:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:32:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014864m	[env.py: 870]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:32:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89250689  1.00411072  0.01486406] yaw=-150.5deg	[env.py: 1019]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69865653  0.05965753  0.01486406] yaw=151.5deg	[env.py: 1019]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69817857  0.62716     0.01486406] yaw=-182.2deg	[env.py: 1019]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.7ms, total=261.7ms	[env.py: 1075]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.004, 0.015)	[env.py: 1079]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:32:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:32:37 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:32:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:32:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:32:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.651s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:32:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 95.144[deg]	[grasp_sample.py: 539]
-05/10 20:32:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:42 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:32:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:33:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:33:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:33:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:33:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:33:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.91s (batch: 4.37s, save: 10.54s)	[pipeline.py: 300]
-05/10 20:33:27 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.80s:
-  episode_total: mean=249.07s, total=249.07s, count=1, min=249068.6ms, max=249068.6ms
-  sensor_polling: mean=519.9ms, total=155.97s, count=300, min=447.4ms, max=1084.5ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.5ms, max=10538.5ms
-  physics_step: mean=26.1ms, total=7.82s, count=300, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
-  task_sampling: mean=801.6ms, total=801.6ms, count=1, min=801.6ms, max=801.6ms
-  task_specific_sample: mean=797.6ms, total=797.6ms, count=1, min=797.6ms, max=797.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=568.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:33:29 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:33:29 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:33:29 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
-05/10 20:33:29 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5280.23s
-  House averages:
-  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
-  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
-  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
-  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
-  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
-  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 20:33:29 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 20:33:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5280.23s
-  Worker averages:
-  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
-  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
-  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
-  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
-  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
-  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 20:33:33 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 20:33:33 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
-05/10 20:33:33 INFO: Success rate: 91.67%	[pipeline.py: 1492]
-05/10 20:33:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:33:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:33:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:34:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:34:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:34:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:34:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:34:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:34:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:34:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:34:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.383[deg]	[grasp_sample.py: 539]
-05/10 20:34:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:34:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:34:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:34:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:34:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:34:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:34:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:34:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076924m	[env.py: 870]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:34:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85179338  1.11549054  0.07692415] yaw=-137.2deg	[env.py: 1019]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06781323  0.95328039  0.07692415] yaw=-149.3deg	[env.py: 1019]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12076845  0.97653856  0.07692415] yaw=-135.8deg	[env.py: 1019]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:34:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.115, 0.077)	[env.py: 1079]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg	[env.py: 1082]
-05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:34:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:34:22 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:34:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:34:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:34:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:34:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:34:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.706s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:34:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.657[m] 96.158[deg]	[grasp_sample.py: 539]
-05/10 20:34:25 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:34:26 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:34:26 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:34:26 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
-05/10 20:34:26 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5433.29s
-  House averages:
-  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
-  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
-  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
-  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
-  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
-  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
-  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 20:34:27 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 20:34:27 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5433.29s
-  Worker averages:
-  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
-  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
-  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
-  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
-  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
-  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
-  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 20:34:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 20:34:29 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
-05/10 20:34:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 20:34:41 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:34:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:34:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:34:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:34:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:34:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.35s (batch: 4.10s, save: 8.25s)	[pipeline.py: 300]
-05/10 20:34:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.62s:
-  episode_total: mean=207.56s, total=207.56s, count=1, min=207563.8ms, max=207563.8ms
-  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=440.4ms, max=999.7ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8245.4ms, max=8245.4ms
-  physics_step: mean=25.6ms, total=7.68s, count=300, min=18.5ms, max=65.9ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.7ms, max=4099.7ms
-  task_sampling: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  task_specific_sample: mean=613.2ms, total=613.2ms, count=1, min=613.2ms, max=613.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=555.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:34:55 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:34:55 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:34:55 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
-05/10 20:34:55 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5446.50s
-  House averages:
-  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
-  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
-  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
-  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
-  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
-  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
-  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 20:34:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 20:34:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5446.50s
-  Worker averages:
-  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
-  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
-  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
-  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
-  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
-  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
-  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 20:34:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 20:34:58 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
-05/10 20:34:58 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 20:35:17 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:35:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:35:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:35:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:35:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:35:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:35:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.98s (batch: 3.84s, save: 8.15s)	[pipeline.py: 300]
-05/10 20:35:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.71s:
-  episode_total: mean=130.16s, total=390.48s, count=3, min=5752.3ms, max=197097.2ms
-  sensor_polling: mean=509.7ms, total=292.57s, count=574, min=422.7ms, max=1066.4ms
-  physics_step: mean=24.0ms, total=13.80s, count=574, min=17.9ms, max=121.0ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8145.5ms, max=8145.5ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3837.6ms, max=3837.6ms
-  task_sampling: mean=569.5ms, total=1.71s, count=3, min=527.6ms, max=642.9ms
-  task_specific_sample: mean=565.3ms, total=1.70s, count=3, min=523.6ms, max=639.0ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=528.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:35:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:35:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:35:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:35:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:35:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001198m	[env.py: 870]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62053964  0.53992263  0.00119764] yaw=-177.3deg	[env.py: 1019]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89362921  0.36861494  0.00119764] yaw=179.1deg	[env.py: 1019]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81444606  0.35710162  0.00119764] yaw=176.4deg	[env.py: 1019]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.8ms	[env.py: 1075]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.621, 0.540, 0.001)	[env.py: 1079]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg	[env.py: 1082]
-05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:35:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:35:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:35:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:35:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:35:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.676[m] 95.374[deg]	[grasp_sample.py: 539]
-05/10 20:35:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:35:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:35:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:37:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:37:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:37:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:38:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:38:51 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
-05/10 20:38:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:38:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
-05/10 20:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.35s, save: 9.58s)	[pipeline.py: 300]
-05/10 20:39:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.00s, total=190.00s, count=1, min=190002.7ms, max=190002.7ms
-  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=422.6ms, max=686.6ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.6ms, max=9577.6ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.4ms, max=79.6ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.8ms, max=4351.8ms
-  task_sampling: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
-  task_specific_sample: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
-05/10 20:39:07 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/10 20:39:07 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5918.11s
-  House averages:
-  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
-  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
-  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
-  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
-  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
-  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 20:39:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 20:39:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5918.11s
-  Worker averages:
-  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
-  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
-  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
-  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
-  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
-  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 20:39:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 20:39:10 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/10 20:39:10 INFO: Success rate: 92.31%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_007/shard_1_of_4.log b/fridge_7/chunk_007/shard_1_of_4.log
deleted file mode 100644
index 4c7c65dc27707ae704e9cd2a6776df14099e207c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_007/shard_1_of_4.log
+++ /dev/null
@@ -1,1755 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
-  shard=1/4  seed=20701  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:49 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 19:44:49 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 19:44:49 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 19:44:49 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x703c7c2be4d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20701,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 19:44:49 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 19:44:49 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 123405085175376 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123405085175376 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 123405085175376 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123405085175376 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 123405085013776 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123405085013776 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123405085014352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123405085014352 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123405085014352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123405085014352 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123405085013776 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123405085013776 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123405088517520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123405088517520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123405088511440 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123405088511440 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 123405088511440 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123405088511440 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123405088517520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123405088517520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57ecc1f6aff0 at 0x703c7c95c150>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57ecc1f98b90 at 0x703c7c967fd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57ecc1f98b90 at 0x703c7c8f1dd0>
-[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040459m
-[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 19:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93951293  1.03241453  0.04045881] yaw=-135.3deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67885125  0.22759735  0.04045881] yaw=170.8deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03138415  1.1204511   0.04045881] yaw=-126.3deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=46.9ms, retries=200.4ms, total=247.3ms
-[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 1.032, 0.040)
-[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.576s
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 19:45:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.557s, found feasible grasp: True
-[05/10 19:45:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.537[m] 92.204[deg]
-[05/10 19:45:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:46:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:46:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:46:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:48:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 19:48:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:48:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 19:48:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:48:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 19:48:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:48:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.31s (batch: 4.29s, save: 10.03s)
-[05/10 19:48:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
-  episode_total: mean=237.32s, total=237.32s, count=1, min=237318.8ms, max=237318.8ms
-  sensor_polling: mean=519.4ms, total=155.83s, count=300, min=426.5ms, max=720.3ms
-  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10026.3ms, max=10026.3ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=15.8ms, max=125.0ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.2ms, max=4287.2ms
-  task_sampling: mean=3.41s, total=3.41s, count=1, min=3413.0ms, max=3413.0ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_specific_sample: mean=576.5ms, total=576.5ms, count=1, min=576.5ms, max=576.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=653.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=40.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:48:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:48:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:48:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 19:48:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:48:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:48:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082266m
-[05/10 19:48:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:48:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:48:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13831907  1.07094622  0.08226626] yaw=-126.3deg
-[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74903779  0.24424859  0.08226626] yaw=164.6deg
-[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93823278  0.17281195  0.08226626] yaw=161.4deg
-[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:48:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:48:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms
-[05/10 19:48:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.138, 1.071, 0.082)
-[05/10 19:48:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg
-[05/10 19:48:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.815m
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:48:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:48:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 19:48:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.126s
-[05/10 19:48:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:48:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:48:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps
-[05/10 19:48:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True
-[05/10 19:48:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.421[m] 92.483[deg]
-[05/10 19:48:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:49:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:51:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:51:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:51:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:51:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 19:51:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
-[05/10 19:51:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.297[deg]
-[05/10 19:51:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:51:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:51:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:51:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 19:51:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:51:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:51:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028140m
-[05/10 19:51:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:51:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:51:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:51:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:51:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66979452  0.40708419  0.02814017] yaw=186.7deg
-[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89922956  0.9085871   0.02814017] yaw=-156.7deg
-[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82580758  1.09712943  0.02814017] yaw=-136.6deg
-[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:51:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:51:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms
-[05/10 19:51:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.407, 0.028)
-[05/10 19:51:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg
-[05/10 19:51:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.035m
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:51:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:51:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:51:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 19:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 19:51:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True
-[05/10 19:51:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 97.631[deg]
-[05/10 19:51:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:52:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:52:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:54:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:54:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:54:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 19:54:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:54:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:54:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:54:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 4.26s, save: 8.41s)
-[05/10 19:54:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.02s:
-  episode_total: mean=183.92s, total=367.83s, count=2, min=163518.7ms, max=204312.5ms
-  sensor_polling: mean=518.0ms, total=296.29s, count=572, min=434.2ms, max=955.8ms
-  physics_step: mean=25.8ms, total=14.76s, count=572, min=15.4ms, max=100.7ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8405.3ms, max=8405.3ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4256.1ms, max=4256.1ms
-  task_sampling: mean=510.5ms, total=1.02s, count=2, min=396.2ms, max=624.7ms
-  task_specific_sample: mean=506.7ms, total=1.01s, count=2, min=393.1ms, max=620.3ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:55:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:55:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:55:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 19:55:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:55:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:55:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078190m
-[05/10 19:55:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:55:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:55:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02737266  0.95441478  0.07818964] yaw=-155.8deg
-[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80713692  0.93130194  0.07818964] yaw=-142.6deg
-[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80073957  0.25127726  0.07818964] yaw=165.1deg
-[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:55:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:55:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms
-[05/10 19:55:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.954, 0.078)
-[05/10 19:55:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg
-[05/10 19:55:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:55:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:55:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:55:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 19:55:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:55:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:55:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 19:55:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 19:55:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.447[m] 97.685[deg]
-[05/10 19:55:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:56:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:57:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:58:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:58:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 19:58:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:58:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:58:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:58:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.75s (batch: 4.25s, save: 9.50s)
-[05/10 19:58:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
-  episode_total: mean=207.76s, total=207.76s, count=1, min=207757.9ms, max=207757.9ms
-  sensor_polling: mean=530.1ms, total=159.03s, count=300, min=437.1ms, max=1126.9ms
-  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9496.2ms, max=9496.2ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=15.8ms, max=119.4ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4253.4ms, max=4253.4ms
-  task_sampling: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
-  task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:58:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:58:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:58:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/10 19:58:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:58:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:58:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059554m
-[05/10 19:58:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:58:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:58:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90046365  0.67043833  0.05955435] yaw=-168.2deg
-[05/10 19:58:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:58:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:58:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms
-[05/10 19:58:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.670, 0.060)
-[05/10 19:58:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg
-[05/10 19:58:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:58:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:58:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:58:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 19:58:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:58:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:58:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 19:58:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 19:58:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 89.099[deg]
-[05/10 19:58:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:01:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:01:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:01:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:01:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:01:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:01:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:01:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.46s, save: 9.47s)
-[05/10 20:01:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s:
-  episode_total: mean=207.74s, total=207.74s, count=1, min=207740.9ms, max=207740.9ms
-  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=448.3ms, max=896.8ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9466.8ms, max=9466.8ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.0ms, max=121.9ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.4ms, max=4460.4ms
-  task_sampling: mean=581.0ms, total=581.0ms, count=1, min=581.0ms, max=581.0ms
-  task_specific_sample: mean=576.7ms, total=576.7ms, count=1, min=576.7ms, max=576.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=509.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:01:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:01:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:01:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 20:01:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:01:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:01:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022242m
-[05/10 20:01:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:01:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:01:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90071735  0.29349962  0.02224201] yaw=167.3deg
-[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80350395  1.02410784  0.02224201] yaw=-139.5deg
-[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88328612  1.0112491   0.02224201] yaw=-153.4deg
-[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:01:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:01:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.8ms, total=102.8ms
-[05/10 20:01:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.293, 0.022)
-[05/10 20:01:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg
-[05/10 20:01:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:01:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:02:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:02:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:02:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 20:02:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:02:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:02:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:02:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
-[05/10 20:02:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 85.062[deg]
-[05/10 20:02:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:04:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:04:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:04:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:04:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 70 non-colliding grasps
-[05/10 20:04:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 0.432s, found feasible grasp: True
-[05/10 20:04:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.058[m] 11.623[deg]
-[05/10 20:04:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:04:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:04:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:04:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 20:04:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:04:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:04:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030618m
-[05/10 20:04:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:04:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:04:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79663588  0.55730866  0.03061809] yaw=-174.7deg
-[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64269497  0.33408624  0.03061809] yaw=175.7deg
-[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87379683  0.94218255  0.03061809] yaw=-152.7deg
-[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:04:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:04:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms
-[05/10 20:04:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.557, 0.031)
-[05/10 20:04:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
-[05/10 20:04:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:04:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:04:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:04:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 20:04:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:04:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:04:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 20:04:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
-[05/10 20:04:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 79.998[deg]
-[05/10 20:04:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:05:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:05:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:07:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:07:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:07:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:07:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:07:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:07:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:07:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 3.88s, save: 8.78s)
-[05/10 20:07:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.89s:
-  episode_total: mean=178.30s, total=356.60s, count=2, min=151046.9ms, max=205554.7ms
-  sensor_polling: mean=533.0ms, total=268.08s, count=503, min=451.2ms, max=1142.7ms
-  physics_step: mean=26.5ms, total=13.35s, count=503, min=15.4ms, max=100.0ms
-  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8777.7ms, max=8777.7ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
-  task_sampling: mean=447.1ms, total=894.2ms, count=2, min=443.5ms, max=450.8ms
-  task_specific_sample: mean=443.6ms, total=887.1ms, count=2, min=439.7ms, max=447.5ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=410.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:07:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:07:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:07:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 20:07:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:07:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:07:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062228m
-[05/10 20:07:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:07:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:08:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73826463  0.0036593   0.06222759] yaw=150.8deg
-[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98665209  0.87555218  0.06222759] yaw=-143.8deg
-[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98480775  0.70567432  0.06222759] yaw=-173.0deg
-[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:08:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:08:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.1ms, total=383.1ms
-[05/10 20:08:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.004, 0.062)
-[05/10 20:08:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg
-[05/10 20:08:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/10 20:08:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:08:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:08:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:08:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:08:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:08:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 20:08:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:08:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:08:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:08:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.544s, found feasible grasp: True
-[05/10 20:08:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.675[m] 101.962[deg]
-[05/10 20:08:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:08:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:08:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:08:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 20:08:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:08:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:08:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022432m
-[05/10 20:08:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:08:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:08:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:08:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79041998  0.46077208  0.02243246] yaw=168.0deg
-[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71363253  0.74437145  0.02243246] yaw=-154.6deg
-[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0242722   1.18575682  0.02243246] yaw=-137.7deg
-[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:08:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:08:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms
-[05/10 20:08:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.461, 0.022)
-[05/10 20:08:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg
-[05/10 20:08:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:08:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:08:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:08:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 20:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 20:08:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:08:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:08:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 20:08:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True
-[05/10 20:08:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.504[m] 97.914[deg]
-[05/10 20:08:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:10:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:10:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:10:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:10:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:10:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:10:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 20:10:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.410s, found feasible grasp: True
-[05/10 20:10:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.204[deg]
-[05/10 20:10:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:11:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:11:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:11:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:11:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:12:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:12:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:12:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.91s (batch: 4.57s, save: 9.34s)
-[05/10 20:12:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.07s:
-  episode_total: mean=120.94s, total=241.88s, count=2, min=6396.8ms, max=235480.8ms
-  sensor_polling: mean=532.8ms, total=159.85s, count=300, min=447.9ms, max=782.6ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.7ms, max=9337.7ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=14.4ms, max=57.8ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4569.3ms, max=4569.3ms
-  task_sampling: mean=536.6ms, total=1.07s, count=2, min=405.2ms, max=668.0ms
-  task_specific_sample: mean=532.6ms, total=1.07s, count=2, min=401.8ms, max=663.4ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms
-  mj_forward_sync: mean=546.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:12:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:12:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:12:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:12:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:12:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:12:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:12:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 20:12:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:12:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:12:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015821m
-[05/10 20:12:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:12:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:12:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:05 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.8ms, total=302.8ms
-[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:12:05 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:12:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:12:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:12:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 20:12:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:12:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:12:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093051m
-[05/10 20:12:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:12:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:12:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97801491  1.05628099  0.09305069] yaw=-146.3deg
-[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90851656  0.35368098  0.09305069] yaw=171.9deg
-[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79425182  0.49690505  0.09305069] yaw=-189.5deg
-[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:12:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:12:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.6ms, total=415.6ms
-[05/10 20:12:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.056, 0.093)
-[05/10 20:12:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg
-[05/10 20:12:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:12:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:12:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:12:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 20:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
-[05/10 20:12:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:12:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:12:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:12:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.668s, found feasible grasp: True
-[05/10 20:12:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.529[m] 94.810[deg]
-[05/10 20:12:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:13:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:15:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:15:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:15:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:15:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:15:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:15:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:15:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:15:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.65s (batch: 4.41s, save: 11.24s)
-[05/10 20:15:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.70s:
-  episode_total: mean=109.79s, total=219.59s, count=2, min=316.6ms, max=219269.3ms
-  sensor_polling: mean=521.0ms, total=156.31s, count=300, min=444.4ms, max=1022.0ms
-  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.8ms, max=11239.8ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.5ms, max=64.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.8ms, max=4411.8ms
-  task_specific_sample: mean=504.6ms, total=1.01s, count=2, min=309.7ms, max=699.4ms
-  task_sampling: mean=702.8ms, total=702.8ms, count=1, min=702.8ms, max=702.8ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
-  mj_forward_sync: mean=600.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:15:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:15:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:15:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 20:15:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:15:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:15:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061789m
-[05/10 20:15:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:15:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:15:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71439009  0.70118447  0.06178923] yaw=-173.1deg
-[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81502998  0.44651377  0.06178923] yaw=166.7deg
-[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91692036  0.1795625   0.06178923] yaw=162.7deg
-[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:15:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:15:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms
-[05/10 20:15:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.701, 0.062)
-[05/10 20:15:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg
-[05/10 20:15:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:15:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:15:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:15:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 20:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
-[05/10 20:15:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:15:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:15:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 20:15:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True
-[05/10 20:15:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.536[m] 86.985[deg]
-[05/10 20:15:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:16:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:18:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:18:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:18:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:18:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:18:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:18:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:18:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.61s (batch: 4.24s, save: 8.38s)
-[05/10 20:18:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.80s, total=190.80s, count=1, min=190801.9ms, max=190801.9ms
-  sensor_polling: mean=485.0ms, total=145.51s, count=300, min=441.9ms, max=796.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=18.6ms, max=66.4ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
-  task_sampling: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
-  task_specific_sample: mean=513.1ms, total=513.1ms, count=1, min=513.1ms, max=513.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=572.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:19:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:19:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:19:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 20:19:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:19:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:19:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010988m
-[05/10 20:19:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:19:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:19:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97231788  0.16879516  0.01098772] yaw=154.2deg
-[05/10 20:19:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87106898  0.92219402  0.01098772] yaw=-162.9deg
-[05/10 20:19:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:19:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:19:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.5ms, total=248.5ms
-[05/10 20:19:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.169, 0.011)
-[05/10 20:19:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg
-[05/10 20:19:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:19:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:19:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:19:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 20:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 20:19:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:19:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:19:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 20:19:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True
-[05/10 20:19:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.342[m] 87.277[deg]
-[05/10 20:19:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:20:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:21:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:21:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:21:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 84 non-colliding grasps
-[05/10 20:21:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.441s, found feasible grasp: True
-[05/10 20:21:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.022[m] 1.421[deg]
-[05/10 20:21:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:21:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:21:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:21:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 20:21:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:21:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:21:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 20:21:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True
-[05/10 20:21:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.952[deg]
-[05/10 20:21:48 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:21:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:21:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:21:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 20:21:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:21:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:21:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091143m
-[05/10 20:21:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:21:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:21:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6681564   0.63475783  0.09114342] yaw=-172.1deg
-[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86639419  0.93005089  0.09114342] yaw=-162.7deg
-[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9244916   0.19179997  0.09114342] yaw=161.1deg
-[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:21:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:21:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms
-[05/10 20:21:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.668, 0.635, 0.091)
-[05/10 20:21:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg
-[05/10 20:21:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:21:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:21:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:21:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:21:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:21:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 20:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 20:21:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:21:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:21:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:21:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True
-[05/10 20:21:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.600[m] 85.611[deg]
-[05/10 20:21:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:22:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:24:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:24:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:24:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:24:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:25:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:25:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:25:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.39s (batch: 4.40s, save: 9.99s)
-[05/10 20:25:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.98s:
-  episode_total: mean=181.21s, total=362.43s, count=2, min=166958.1ms, max=195467.5ms
-  sensor_polling: mean=482.2ms, total=265.22s, count=550, min=438.7ms, max=855.9ms
-  physics_step: mean=22.1ms, total=12.13s, count=550, min=15.6ms, max=64.6ms
-  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9993.9ms, max=9993.9ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.4ms, max=4398.4ms
-  task_sampling: mean=488.3ms, total=976.5ms, count=2, min=413.0ms, max=563.5ms
-  task_specific_sample: mean=484.8ms, total=969.5ms, count=2, min=409.6ms, max=559.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=438.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:25:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:25:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 20:25:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:25:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:25:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097386m
-[05/10 20:25:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:25:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:25:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12791297  1.00729256  0.09738632] yaw=-138.6deg
-[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85027696  0.30447728  0.09738632] yaw=167.4deg
-[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16117418  1.05788775  0.09738632] yaw=-142.9deg
-[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:25:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:25:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.0ms
-[05/10 20:25:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.007, 0.097)
-[05/10 20:25:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg
-[05/10 20:25:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:25:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 20:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.147s
-[05/10 20:25:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:25:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:25:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 20:25:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True
-[05/10 20:25:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 75.979[deg]
-[05/10 20:25:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:26:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:27:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:27:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:27:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:27:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:27:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 20:27:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.653s, found feasible grasp: True
-[05/10 20:27:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.326[deg]
-[05/10 20:27:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:27:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:27:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:27:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/10 20:27:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:27:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:27:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083428m
-[05/10 20:27:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:27:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:27:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89933503  0.86665457  0.0834276 ] yaw=-161.6deg
-[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69978329  0.70979182  0.0834276 ] yaw=-160.0deg
-[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87381205  0.15941204  0.0834276 ] yaw=153.7deg
-[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:27:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:27:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.4ms, total=523.5ms
-[05/10 20:27:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.867, 0.083)
-[05/10 20:27:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg
-[05/10 20:27:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:27:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:27:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:27:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 20:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
-[05/10 20:27:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:27:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:27:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 20:27:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.599s, found feasible grasp: True
-[05/10 20:27:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.459[m] 91.132[deg]
-[05/10 20:27:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:31:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:31:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
-[05/10 20:31:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:31:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:31:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:31:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.53s (batch: 4.31s, save: 10.22s)
-[05/10 20:31:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.37s:
-  episode_total: mean=188.08s, total=376.16s, count=2, min=167820.9ms, max=208339.1ms
-  sensor_polling: mean=521.8ms, total=300.01s, count=575, min=442.4ms, max=968.0ms
-  physics_step: mean=26.1ms, total=15.02s, count=575, min=18.2ms, max=113.4ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.7ms, max=10216.7ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.8ms, max=4311.8ms
-  task_sampling: mean=684.1ms, total=1.37s, count=2, min=559.6ms, max=808.7ms
-  task_specific_sample: mean=676.4ms, total=1.35s, count=2, min=555.7ms, max=797.1ms
-  scene_randomize: mean=6.1ms, total=12.1ms, count=2, min=2.5ms, max=9.6ms
-  mj_forward_sync: mean=538.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:31:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:31:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:31:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 20:31:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:31:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:31:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058882m
-[05/10 20:31:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:31:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:31:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08819506  0.97536592  0.05888197] yaw=-147.3deg
-[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09744337  1.00202373  0.05888197] yaw=-133.6deg
-[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92629682  0.29605768  0.05888197] yaw=167.8deg
-[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:31:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:31:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.0ms, total=179.1ms
-[05/10 20:31:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.088, 0.975, 0.059)
-[05/10 20:31:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
-[05/10 20:31:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:31:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:31:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:31:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 20:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 20:31:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:31:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:31:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 20:31:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
-[05/10 20:31:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.350[m] 80.596[deg]
-[05/10 20:31:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:34:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:34:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:34:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:34:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:34:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:34:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:34:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 20:34:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.642s, found feasible grasp: True
-[05/10 20:34:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.383[deg]
-[05/10 20:34:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:34:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:34:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:34:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 20:34:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:34:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:34:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076924m
-[05/10 20:34:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:34:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:34:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85179338  1.11549054  0.07692415] yaw=-137.2deg
-[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06781323  0.95328039  0.07692415] yaw=-149.3deg
-[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12076845  0.97653856  0.07692415] yaw=-135.8deg
-[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:34:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:34:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms
-[05/10 20:34:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.115, 0.077)
-[05/10 20:34:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg
-[05/10 20:34:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.061m
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:34:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:34:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:34:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 20:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 20:34:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:34:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:34:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 20:34:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.706s, found feasible grasp: True
-[05/10 20:34:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.657[m] 96.158[deg]
-[05/10 20:34:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:34:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:34:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:34:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes
-[05/10 20:34:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5433.29s
-  House averages:
-  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
-  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
-  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
-  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
-  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
-  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
-  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:34:27 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 20:34:27 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5433.29s
-  Worker averages:
-  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
-  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
-  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
-  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
-  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
-  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
-  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
-  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
-  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
-  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
-  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
-  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
-  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
-  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:34:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 20:34:29 INFO pipeline.py:1491] Success count: 10, Total count: 10
-[05/10 20:34:29 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
-==========================================
diff --git a/fridge_7/chunk_007/shard_2_of_4.log b/fridge_7/chunk_007/shard_2_of_4.log
deleted file mode 100644
index ee2c76c968f4b168b1972e6137bde5e84f9cbbbb..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_007/shard_2_of_4.log
+++ /dev/null
@@ -1,1717 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
-  shard=2/4  seed=20702  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 19:44:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 19:44:50 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 19:44:50 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7341c196b690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20702,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 19:44:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 19:44:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 126726253157712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126726253157712 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 126726253157712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126726253157712 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 126726256462672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126726256462672 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126726256475856 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126726256475856 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126726256475856 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126726256475856 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126726256462672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126726256462672 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126726253198928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126726253198928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126726253188240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126726253188240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 126726253188240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126726253188240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126726253198928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126726253198928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d4be4167ef0 at 0x7341c1d42dd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d4be4195a90 at 0x7341c1d52090>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d4be4195a90 at 0x7341c1cd8d10>
-[05/10 19:44:53 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 19:44:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:44:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:44:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062358m
-[05/10 19:44:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:44:53 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 19:44:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94611288  1.17634791  0.06235842] yaw=-134.5deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76954052  0.08004172  0.06235842] yaw=159.2deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74807338  0.91854216  0.06235842] yaw=-163.8deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.1ms, retries=140.5ms, total=154.7ms
-[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 1.176, 0.062)
-[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.071s
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 19:45:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.961s, found feasible grasp: True
-[05/10 19:45:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.613[m] 95.467[deg]
-[05/10 19:45:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:45:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:45:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:45:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:45:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:45:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:45:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:45:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 19:45:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:45:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:45:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027235m
-[05/10 19:45:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:45:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:45:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:45:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95766998  0.23143234  0.02723459] yaw=166.1deg
-[05/10 19:45:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:45:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:45:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85154113  0.37219871  0.02723459] yaw=177.6deg
-[05/10 19:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:45:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:45:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:45:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=402.2ms, total=402.2ms
-[05/10 19:45:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.231, 0.027)
-[05/10 19:45:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
-[05/10 19:45:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 19:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:45:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:45:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 19:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 19:45:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:45:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:45:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 19:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
-[05/10 19:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.319[m] 81.614[deg]
-[05/10 19:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:46:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:47:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:47:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:47:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:47:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:47:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:47:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps
-[05/10 19:47:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.801s, found feasible grasp: True
-[05/10 19:47:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.391[deg]
-[05/10 19:47:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:47:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:47:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:47:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:47:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:47:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:48:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:48:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:48:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps
-[05/10 19:48:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 4.068s, found feasible grasp: True
-[05/10 19:48:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.613[deg]
-[05/10 19:48:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:48:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:48:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:49:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 19:49:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:49:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 19:49:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:49:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 19:49:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:49:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.07s (batch: 5.19s, save: 11.88s)
-[05/10 19:49:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
-  episode_total: mean=152.63s, total=305.26s, count=2, min=36518.8ms, max=268737.2ms
-  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=430.8ms, max=887.8ms
-  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11875.0ms, max=11875.0ms
-  physics_step: mean=27.5ms, total=8.26s, count=300, min=13.3ms, max=105.7ms
-  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5192.6ms, max=5192.6ms
-  task_sampling: mean=2.03s, total=4.05s, count=2, min=687.1ms, max=3366.7ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  task_specific_sample: mean=560.1ms, total=1.12s, count=2, min=435.8ms, max=684.4ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:49:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:49:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:49:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 19:49:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:49:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:49:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006516m
-[05/10 19:49:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:49:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:49:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:49:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7688609   0.37402735  0.00651616] yaw=174.3deg
-[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91988827  0.93155005  0.00651616] yaw=-158.3deg
-[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73593649  0.4405686   0.00651616] yaw=169.0deg
-[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:49:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:49:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms
-[05/10 19:49:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.374, 0.007)
-[05/10 19:49:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg
-[05/10 19:49:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.940m
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:49:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:49:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:49:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 19:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/10 19:49:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:49:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:49:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 19:50:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True
-[05/10 19:50:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 94.479[deg]
-[05/10 19:50:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:52:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:53:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:53:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 19:53:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:53:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:53:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:53:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.03s (batch: 4.59s, save: 9.44s)
-[05/10 19:53:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.35s:
-  episode_total: mean=208.53s, total=208.53s, count=1, min=208534.2ms, max=208534.2ms
-  sensor_polling: mean=511.7ms, total=153.50s, count=300, min=429.1ms, max=816.1ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9444.1ms, max=9444.1ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.5ms, max=88.9ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.8ms, max=4589.8ms
-  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
-  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=410.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:53:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:53:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:53:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 19:53:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:53:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:53:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031138m
-[05/10 19:53:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:53:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:53:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89473831  0.87948054  0.03113831] yaw=-151.2deg
-[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87197325  0.19232102  0.03113831] yaw=158.1deg
-[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78739777  1.00895019  0.03113831] yaw=-150.9deg
-[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.6ms
-[05/10 19:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.879, 0.031)
-[05/10 19:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg
-[05/10 19:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:53:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:53:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 19:53:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:53:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:53:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 19:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True
-[05/10 19:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 88.083[deg]
-[05/10 19:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:56:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:56:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:56:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 19:56:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:56:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:56:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:56:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.35s (batch: 4.52s, save: 12.84s)
-[05/10 19:57:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=210.39s, total=210.39s, count=1, min=210390.2ms, max=210390.2ms
-  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=425.7ms, max=992.2ms
-  save_trajectories: mean=12.84s, total=12.84s, count=1, min=12835.3ms, max=12835.3ms
-  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.9ms, max=77.1ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4515.3ms, max=4515.3ms
-  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  task_specific_sample: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=586.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:57:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:57:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:57:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:57:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:57:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:57:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:57:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 19:57:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:57:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:57:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089256m
-[05/10 19:57:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:57:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:57:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:57:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94317998  0.16687815  0.08925634] yaw=149.4deg
-[05/10 19:57:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98944729  0.72553929  0.08925634] yaw=-152.5deg
-[05/10 19:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:57:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:57:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.3ms, total=365.4ms
-[05/10 19:57:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.167, 0.089)
-[05/10 19:57:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.4 deg
-[05/10 19:57:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m
-[05/10 19:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:57:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:57:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 19:57:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:57:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:57:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 19:57:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True
-[05/10 19:57:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 82.610[deg]
-[05/10 19:57:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:58:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:58:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:58:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:58:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:58:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:58:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
-[05/10 19:58:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.865s, found feasible grasp: True
-[05/10 19:58:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.162[deg]
-[05/10 19:58:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:58:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:58:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:58:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 19:58:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:58:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:58:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012469m
-[05/10 19:58:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:58:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:58:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69226349  0.90674144  0.01246883] yaw=-160.7deg
-[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82355689  0.0863396   0.01246883] yaw=162.3deg
-[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:58:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96527915  1.21601626  0.01246883] yaw=-139.2deg
-[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:58:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:58:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=161.0ms
-[05/10 19:58:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.907, 0.012)
-[05/10 19:58:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
-[05/10 19:58:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:58:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:59:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
-[05/10 19:59:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:59:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:59:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 19:59:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.226s, found feasible grasp: True
-[05/10 19:59:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.688[m] 84.702[deg]
-[05/10 19:59:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:00:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:00:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:01:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:02:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:02:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:02:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:02:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:02:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:02:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.00s (batch: 4.09s, save: 8.91s)
-[05/10 20:02:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.24s:
-  episode_total: mean=163.50s, total=327.00s, count=2, min=115496.1ms, max=211499.2ms
-  sensor_polling: mean=512.1ms, total=247.83s, count=484, min=433.8ms, max=959.2ms
-  physics_step: mean=24.0ms, total=11.64s, count=484, min=17.7ms, max=69.5ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.8ms, max=8908.8ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4086.4ms, max=4086.4ms
-  task_sampling: mean=620.1ms, total=1.24s, count=2, min=535.8ms, max=704.4ms
-  task_specific_sample: mean=616.0ms, total=1.23s, count=2, min=531.8ms, max=700.2ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=581.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:02:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:02:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:02:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:02:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:02:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:02:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:02:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 20:02:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:02:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:02:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041340m
-[05/10 20:02:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:02:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:02:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:02:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15695727  1.01635406  0.04134004] yaw=-143.2deg
-[05/10 20:02:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:02:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93190871  0.09836322  0.04134004] yaw=153.3deg
-[05/10 20:02:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:02:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76304696  0.65011816  0.04134004] yaw=-180.6deg
-[05/10 20:02:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:02:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:02:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.3ms
-[05/10 20:02:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.016, 0.041)
-[05/10 20:02:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg
-[05/10 20:02:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m
-[05/10 20:02:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:02:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:02:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:02:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:02:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 20:02:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:02:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:02:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 20:02:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True
-[05/10 20:02:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.365[m] 84.628[deg]
-[05/10 20:02:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:05:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:05:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:05:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:05:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:05:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps
-[05/10 20:05:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.777s, found feasible grasp: True
-[05/10 20:05:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.306[deg]
-[05/10 20:05:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:05:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:05:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:05:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:05:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:05:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:05:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:05:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 20:05:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:05:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:05:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008380m
-[05/10 20:05:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:05:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:05:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:05:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83951672  0.65309542  0.00837957] yaw=-175.5deg
-[05/10 20:05:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94224853  0.42782171  0.00837957] yaw=181.9deg
-[05/10 20:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9464837   0.83913166  0.00837957] yaw=-144.0deg
-[05/10 20:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:05:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:05:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.1ms, total=423.2ms
-[05/10 20:05:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.653, 0.008)
-[05/10 20:05:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg
-[05/10 20:05:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.880m
-[05/10 20:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:05:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:05:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/10 20:05:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:05:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:05:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 20:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True
-[05/10 20:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 101.568[deg]
-[05/10 20:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:06:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:08:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:08:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:08:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:08:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:08:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:08:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:08:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.78s (batch: 4.71s, save: 9.07s)
-[05/10 20:08:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.28s:
-  episode_total: mean=190.29s, total=380.58s, count=2, min=166038.3ms, max=214545.9ms
-  sensor_polling: mean=526.0ms, total=298.25s, count=567, min=451.2ms, max=998.9ms
-  physics_step: mean=25.0ms, total=14.16s, count=567, min=17.7ms, max=66.5ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9065.8ms, max=9065.8ms
-  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.9ms, max=4714.9ms
-  task_sampling: mean=640.5ms, total=1.28s, count=2, min=479.8ms, max=801.2ms
-  task_specific_sample: mean=636.4ms, total=1.27s, count=2, min=475.4ms, max=797.5ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
-  mj_forward_sync: mean=546.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:08:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:08:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:08:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
-[05/10 20:08:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:08:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:08:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016508m
-[05/10 20:08:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:08:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:08:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86068619  0.55693989  0.01650806] yaw=-171.6deg
-[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72526702  0.50716635  0.01650806] yaw=-170.8deg
-[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85204273  0.98649189  0.01650806] yaw=-140.8deg
-[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:08:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:08:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.6ms, total=370.6ms
-[05/10 20:08:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.557, 0.017)
-[05/10 20:08:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg
-[05/10 20:08:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:08:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:08:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 20:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s
-[05/10 20:08:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:08:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:08:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 20:08:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.030s, found feasible grasp: True
-[05/10 20:08:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.390[m] 83.052[deg]
-[05/10 20:08:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:09:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:09:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:11:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:12:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:12:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:12:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 20:12:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:12:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:12:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.96s (batch: 4.62s, save: 9.33s)
-[05/10 20:12:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
-  episode_total: mean=211.91s, total=211.91s, count=1, min=211906.3ms, max=211906.3ms
-  sensor_polling: mean=522.8ms, total=156.32s, count=299, min=456.8ms, max=860.0ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9331.7ms, max=9331.7ms
-  physics_step: mean=25.2ms, total=7.55s, count=299, min=18.7ms, max=59.8ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4623.7ms, max=4623.7ms
-  task_sampling: mean=740.2ms, total=740.2ms, count=1, min=740.2ms, max=740.2ms
-  task_specific_sample: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
-  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:12:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:12:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:12:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 20:12:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:12:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:12:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013338m
-[05/10 20:12:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:12:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:12:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:12:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7570384   0.26022629  0.01333754] yaw=168.5deg
-[05/10 20:12:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:12:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73632854  0.03981732  0.01333754] yaw=160.0deg
-[05/10 20:12:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:12:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:12:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms
-[05/10 20:12:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.260, 0.013)
-[05/10 20:12:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg
-[05/10 20:12:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
-[05/10 20:12:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:12:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:12:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:12:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:12:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:12:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 20:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
-[05/10 20:12:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:12:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:12:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/10 20:12:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True
-[05/10 20:12:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.173[deg]
-[05/10 20:12:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:12:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:12:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:15:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:15:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:15:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:15:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:16:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:16:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:16:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.48s (batch: 4.22s, save: 9.25s)
-[05/10 20:16:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.63s:
-  episode_total: mean=220.61s, total=220.61s, count=1, min=220606.3ms, max=220606.3ms
-  sensor_polling: mean=526.1ms, total=157.83s, count=300, min=449.5ms, max=974.1ms
-  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9251.6ms, max=9251.6ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.2ms, max=125.1ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.6ms, max=4223.6ms
-  task_sampling: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
-  task_specific_sample: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=574.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:16:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:16:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:16:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 20:16:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:16:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:16:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010323m
-[05/10 20:16:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:16:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:16:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75624644  0.87812877  0.01032255] yaw=-156.6deg
-[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09380131  0.97515665  0.01032255] yaw=-141.4deg
-[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71703413  0.78134678  0.01032255] yaw=-173.6deg
-[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:16:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:16:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms
-[05/10 20:16:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.878, 0.010)
-[05/10 20:16:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg
-[05/10 20:16:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:16:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:16:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 20:16:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 20:16:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:16:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:16:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 20:16:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.482s, found feasible grasp: True
-[05/10 20:16:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.582[m] 86.379[deg]
-[05/10 20:16:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:18:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:19:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:19:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:19:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:19:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:19:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:19:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.49s (batch: 4.16s, save: 8.33s)
-[05/10 20:19:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=196.03s, total=196.03s, count=1, min=196027.6ms, max=196027.6ms
-  sensor_polling: mean=490.4ms, total=147.11s, count=300, min=441.8ms, max=742.3ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8329.7ms, max=8329.7ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=18.2ms, max=39.8ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4160.8ms, max=4160.8ms
-  task_sampling: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
-  task_specific_sample: mean=485.9ms, total=485.9ms, count=1, min=485.9ms, max=485.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=528.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:19:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:19:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:19:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:19:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:19:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:19:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 20:19:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:19:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:19:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085264m
-[05/10 20:19:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:19:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:19:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0040099   0.89896518  0.0852638 ] yaw=-158.4deg
-[05/10 20:19:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:19:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:19:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms
-[05/10 20:19:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.899, 0.085)
-[05/10 20:19:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
-[05/10 20:19:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
-[05/10 20:19:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:19:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:19:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:19:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:19:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 20:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 20:19:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:19:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:19:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:19:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True
-[05/10 20:19:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 93.968[deg]
-[05/10 20:19:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:20:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:22:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:22:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:22:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:22:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:22:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:22:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:22:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.65s (batch: 3.85s, save: 8.80s)
-[05/10 20:22:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s:
-  episode_total: mean=189.58s, total=189.58s, count=1, min=189584.0ms, max=189584.0ms
-  sensor_polling: mean=483.9ms, total=145.17s, count=300, min=440.3ms, max=757.0ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8798.1ms, max=8798.1ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.5ms, max=32.2ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.9ms, max=3851.9ms
-  task_sampling: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
-  task_specific_sample: mean=537.9ms, total=537.9ms, count=1, min=537.9ms, max=537.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:22:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:22:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 20:22:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:22:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:22:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035040m
-[05/10 20:22:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:22:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:22:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92690517  1.23730249  0.03504019] yaw=-131.7deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76643389  0.89484973  0.03504019] yaw=-149.3deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79517288  1.09174037  0.03504019] yaw=-139.7deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:22:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:22:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms
-[05/10 20:22:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 1.237, 0.035)
-[05/10 20:22:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.082m
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:22:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 20:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:22:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.591s, found feasible grasp: False
-[05/10 20:22:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 20:22:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:22:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:22:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 20:22:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:22:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:22:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091219m
-[05/10 20:22:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:22:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:22:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790168  0.26433194  0.09121896] yaw=171.7deg
-[05/10 20:22:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:22:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95438997  0.56836061  0.09121896] yaw=-183.5deg
-[05/10 20:22:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:22:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:22:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.2ms, total=287.3ms
-[05/10 20:22:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.264, 0.091)
-[05/10 20:22:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg
-[05/10 20:22:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/10 20:22:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:22:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 20:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 20:22:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:22:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:22:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:22:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
-[05/10 20:22:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.340[m] 91.883[deg]
-[05/10 20:22:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:24:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:24:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:24:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:24:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:24:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:24:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:24:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 20:24:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True
-[05/10 20:24:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.490[deg]
-[05/10 20:24:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:24:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:24:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:24:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 20:24:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:24:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:24:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051210m
-[05/10 20:24:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:24:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:24:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73767431  0.96751507  0.05120979] yaw=-161.6deg
-[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77028222  0.99801373  0.05120979] yaw=-157.8deg
-[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78661525  0.30099203  0.05120979] yaw=157.6deg
-[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:24:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:24:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms
-[05/10 20:24:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.968, 0.051)
-[05/10 20:24:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg
-[05/10 20:24:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:24:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:24:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 20:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 20:24:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:24:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:24:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:24:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.716s, found feasible grasp: True
-[05/10 20:24:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.653[m] 86.753[deg]
-[05/10 20:24:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:24:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:24:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:24:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 20:24:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:24:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:24:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021149m
-[05/10 20:24:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:24:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:24:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8639952   0.71136026  0.02114949] yaw=-158.6deg
-[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88837796  0.76345529  0.02114949] yaw=-151.7deg
-[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70002424  0.54065946  0.02114949] yaw=-176.5deg
-[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:24:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:24:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms
-[05/10 20:24:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.711, 0.021)
-[05/10 20:24:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg
-[05/10 20:24:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.869m
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:24:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:24:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 20:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 20:24:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:24:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:24:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 20:24:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/10 20:24:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 86.908[deg]
-[05/10 20:24:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:25:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:27:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:27:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:27:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:27:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:27:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:27:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:27:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.53s (batch: 4.18s, save: 8.35s)
-[05/10 20:27:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.95s:
-  episode_total: mean=76.36s, total=305.44s, count=4, min=2247.4ms, max=206557.4ms
-  sensor_polling: mean=519.2ms, total=234.69s, count=452, min=450.6ms, max=1042.7ms
-  physics_step: mean=25.2ms, total=11.40s, count=452, min=16.3ms, max=97.7ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.2ms, max=8350.2ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.7ms, max=4176.7ms
-  task_sampling: mean=487.9ms, total=1.95s, count=4, min=398.8ms, max=577.9ms
-  task_specific_sample: mean=484.4ms, total=1.94s, count=4, min=395.8ms, max=574.6ms
-  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=435.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 20:27:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:27:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:27:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 20:27:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:27:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:27:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059389m
-[05/10 20:27:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:27:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:27:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78990939  0.83772471  0.05938926] yaw=-150.5deg
-[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01370978  1.11908092  0.05938926] yaw=-135.2deg
-[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91766541  0.97892175  0.05938926] yaw=-143.8deg
-[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:27:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:27:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms
-[05/10 20:27:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.838, 0.059)
-[05/10 20:27:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
-[05/10 20:27:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:27:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:27:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:27:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 20:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
-[05/10 20:27:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:27:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:27:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps
-[05/10 20:27:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.312s, found feasible grasp: True
-[05/10 20:27:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.556[m] 89.059[deg]
-[05/10 20:27:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:29:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:29:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:31:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:31:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:31:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:31:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:31:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:31:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.65s (batch: 4.19s, save: 10.46s)
-[05/10 20:31:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s:
-  episode_total: mean=210.00s, total=210.00s, count=1, min=210001.9ms, max=210001.9ms
-  sensor_polling: mean=532.8ms, total=159.83s, count=300, min=449.6ms, max=1004.7ms
-  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10461.8ms, max=10461.8ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.0ms, max=98.6ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.2ms, max=4188.2ms
-  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
-  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=619.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:31:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:31:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:31:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 20:31:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:31:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:31:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012497m
-[05/10 20:31:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:31:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:31:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70668854  0.85565068  0.01249682] yaw=-164.7deg
-[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87570034  0.12019713  0.01249682] yaw=149.7deg
-[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.997197    1.17193451  0.01249682] yaw=-133.5deg
-[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:31:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:31:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.6ms, total=329.7ms
-[05/10 20:31:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.856, 0.012)
-[05/10 20:31:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg
-[05/10 20:31:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.063m
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:31:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:31:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:31:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 20:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 20:31:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:31:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:31:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:31:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.874s, found feasible grasp: True
-[05/10 20:31:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.659[m] 90.006[deg]
-[05/10 20:31:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:34:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:34:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:34:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
-[05/10 20:34:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:34:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:34:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:34:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.35s (batch: 4.10s, save: 8.25s)
-[05/10 20:34:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.62s:
-  episode_total: mean=207.56s, total=207.56s, count=1, min=207563.8ms, max=207563.8ms
-  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=440.4ms, max=999.7ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8245.4ms, max=8245.4ms
-  physics_step: mean=25.6ms, total=7.68s, count=300, min=18.5ms, max=65.9ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.7ms, max=4099.7ms
-  task_sampling: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  task_specific_sample: mean=613.2ms, total=613.2ms, count=1, min=613.2ms, max=613.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=555.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:34:55 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:34:55 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:34:55 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
-[05/10 20:34:55 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5446.50s
-  House averages:
-  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
-  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
-  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
-  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
-  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
-  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
-  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:34:55 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 20:34:55 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5446.50s
-  Worker averages:
-  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
-  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
-  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
-  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
-  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
-  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
-  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
-  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
-  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
-  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
-  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
-  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
-  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
-  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
-  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:34:58 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 20:34:58 INFO pipeline.py:1491] Success count: 12, Total count: 12
-[05/10 20:34:58 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
-==========================================
diff --git a/fridge_7/chunk_007/shard_3_of_4.log b/fridge_7/chunk_007/shard_3_of_4.log
deleted file mode 100644
index 6c35b55ef1b32ff1d5d562b61a3ee0abdaebf35b..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_007/shard_3_of_4.log
+++ /dev/null
@@ -1,1786 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
-  shard=3/4  seed=20703  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 19:44:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 19:44:50 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 19:44:50 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eae3aabc850>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20703,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 19:44:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 19:44:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 139286772202064 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139286772202064 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 139286772202064 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139286772202064 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 139286772919568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139286772919568 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139286772920080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139286772920080 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139286772920080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139286772920080 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139286772919568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139286772919568 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139286772254288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139286772254288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139286772263120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139286772263120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 139286772263120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139286772263120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139286772254288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139286772254288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 651d3c534780 at 0x7eae3b02f650>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 651d3c562320 at 0x7eae3a7be950>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 651d3c562320 at 0x7eae3afc6310>
-[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018409m
-[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 19:44:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74968595  0.78148478  0.01840942] yaw=-167.8deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92929802  0.83406204  0.01840942] yaw=-162.0deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92112802  0.86820348  0.01840942] yaw=-144.8deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=48.9ms, retries=171.7ms, total=220.7ms
-[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.781, 0.018)
-[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
-[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.999m
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 19:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.599s
-[05/10 19:45:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:45:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:45:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:45:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
-[05/10 19:45:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 85.497[deg]
-[05/10 19:45:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:46:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:46:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:46:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:48:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 19:48:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:48:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 19:48:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:48:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 19:48:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:48:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.91s (batch: 3.87s, save: 9.04s)
-[05/10 19:48:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.25s:
-  episode_total: mean=230.32s, total=230.32s, count=1, min=230324.3ms, max=230324.3ms
-  sensor_polling: mean=515.8ms, total=154.75s, count=300, min=439.0ms, max=760.0ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.2ms, max=9039.2ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.6ms, max=78.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3871.6ms, max=3871.6ms
-  task_sampling: mean=3.25s, total=3.25s, count=1, min=3245.1ms, max=3245.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  task_specific_sample: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=636.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:48:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:48:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:48:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/10 19:48:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:48:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:48:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064530m
-[05/10 19:48:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:48:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:48:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77937936  0.2091806   0.06453014] yaw=174.4deg
-[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91729657  0.55505217  0.06453014] yaw=-170.5deg
-[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90906542  0.52777162  0.06453014] yaw=-166.6deg
-[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:48:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:48:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.4ms, total=253.5ms
-[05/10 19:48:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.209, 0.065)
-[05/10 19:48:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.4 deg
-[05/10 19:48:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:48:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:48:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:48:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:48:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 19:48:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True
-[05/10 19:48:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.501[m] 80.899[deg]
-[05/10 19:48:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:48:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:48:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:49:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:51:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:51:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True
-[05/10 19:51:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.677[deg]
-[05/10 19:51:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:51:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:51:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:51:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:52:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:52:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 19:52:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:52:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:52:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:52:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.46s (batch: 4.34s, save: 13.11s)
-[05/10 19:52:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=233.18s, total=233.18s, count=1, min=233175.8ms, max=233175.8ms
-  sensor_polling: mean=525.1ms, total=157.53s, count=300, min=456.4ms, max=1016.9ms
-  save_trajectories: mean=13.11s, total=13.11s, count=1, min=13112.4ms, max=13112.4ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.3ms, max=74.4ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
-  task_sampling: mean=504.3ms, total=504.3ms, count=1, min=504.3ms, max=504.3ms
-  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=586.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:52:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:52:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:52:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 19:52:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:52:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:52:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095905m
-[05/10 19:52:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:52:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:52:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0493087   1.23462005  0.09590478] yaw=-134.2deg
-[05/10 19:52:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:52:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:52:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms
-[05/10 19:52:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.235, 0.096)
-[05/10 19:52:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg
-[05/10 19:52:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:52:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 19:52:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 19:52:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:52:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:52:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 19:52:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.378s, found feasible grasp: True
-[05/10 19:52:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.587[m] 87.295[deg]
-[05/10 19:52:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:54:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:54:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:54:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:54:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:54:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:54:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:54:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/10 19:54:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.563s, found feasible grasp: True
-[05/10 19:54:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.542[deg]
-[05/10 19:54:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:55:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:55:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 19:55:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:55:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:55:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
-[05/10 19:55:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.677s, found feasible grasp: True
-[05/10 19:55:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.112[deg]
-[05/10 19:55:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:55:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:55:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:55:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:55:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:55:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:55:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:55:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 19:55:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:55:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:55:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063309m
-[05/10 19:55:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:55:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:55:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:55:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68542771  0.23839162  0.06330891] yaw=165.5deg
-[05/10 19:55:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:55:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:55:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67650864  0.84597771  0.06330891] yaw=-169.2deg
-[05/10 19:55:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:55:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93712728  0.12622628  0.06330891] yaw=162.9deg
-[05/10 19:55:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:55:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:55:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=464.5ms, total=464.6ms
-[05/10 19:55:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.238, 0.063)
-[05/10 19:55:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg
-[05/10 19:55:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.046m
-[05/10 19:55:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:55:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:55:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:55:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:55:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 19:55:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:55:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:55:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
-[05/10 19:55:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True
-[05/10 19:55:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 87.823[deg]
-[05/10 19:55:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:57:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:58:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:59:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:59:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 19:59:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:59:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:59:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:59:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.80s (batch: 4.50s, save: 9.30s)
-[05/10 19:59:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.49s:
-  episode_total: mean=204.37s, total=408.74s, count=2, min=188538.8ms, max=220197.6ms
-  sensor_polling: mean=520.9ms, total=305.25s, count=586, min=430.0ms, max=940.4ms
-  physics_step: mean=25.7ms, total=15.04s, count=586, min=16.3ms, max=81.1ms
-  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9300.7ms, max=9300.7ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.4ms, max=4496.4ms
-  task_sampling: mean=747.3ms, total=1.49s, count=2, min=496.9ms, max=997.6ms
-  task_specific_sample: mean=743.4ms, total=1.49s, count=2, min=493.1ms, max=993.7ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.9ms, max=2.6ms
-  mj_forward_sync: mean=505.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 19:59:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:59:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 19:59:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:59:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:59:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044079m
-[05/10 19:59:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:59:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:59:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91753044  0.36050493  0.04407938] yaw=161.8deg
-[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074433  1.01476988  0.04407938] yaw=-136.8deg
-[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98221381  1.28539408  0.04407938] yaw=-124.8deg
-[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:59:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:59:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.6ms
-[05/10 19:59:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.361, 0.044)
-[05/10 19:59:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg
-[05/10 19:59:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:59:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
-[05/10 19:59:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:59:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:59:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/10 19:59:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
-[05/10 19:59:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.414[m] 101.311[deg]
-[05/10 19:59:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:00:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:00:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:00:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:01:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:01:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:01:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:01:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:01:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:01:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 20:01:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.372s, found feasible grasp: True
-[05/10 20:01:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.727[deg]
-[05/10 20:01:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:02:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:03:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:03:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:03:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.33s (batch: 4.34s, save: 12.98s)
-[05/10 20:03:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
-  episode_total: mean=236.10s, total=236.10s, count=1, min=236103.7ms, max=236103.7ms
-  sensor_polling: mean=526.2ms, total=157.86s, count=300, min=454.9ms, max=930.3ms
-  save_trajectories: mean=12.98s, total=12.98s, count=1, min=12983.0ms, max=12983.0ms
-  physics_step: mean=26.4ms, total=7.91s, count=300, min=13.9ms, max=70.1ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.6ms, max=4342.6ms
-  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
-  task_specific_sample: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=576.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:03:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:03:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:03:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 20:03:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:03:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:03:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048792m
-[05/10 20:03:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:03:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:03:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84791331  0.27606438  0.04879247] yaw=166.0deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76904877  0.6297212   0.04879247] yaw=-169.7deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68595704  0.32253765  0.04879247] yaw=171.8deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:03:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:03:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=503.5ms, total=503.6ms
-[05/10 20:03:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.276, 0.049)
-[05/10 20:03:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.879m
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:03:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:03:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 20:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True
-[05/10 20:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.384[m] 82.342[deg]
-[05/10 20:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:05:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:05:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:05:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:05:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:05:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:05:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:05:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps
-[05/10 20:05:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.448s, found feasible grasp: True
-[05/10 20:05:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.911[deg]
-[05/10 20:05:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:05:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:06:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:06:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:06:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:06:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:06:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:07:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:07:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:07:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.36s (batch: 4.40s, save: 9.96s)
-[05/10 20:07:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s:
-  episode_total: mean=225.86s, total=225.86s, count=1, min=225857.7ms, max=225857.7ms
-  sensor_polling: mean=529.0ms, total=158.69s, count=300, min=461.1ms, max=1055.8ms
-  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9960.4ms, max=9960.4ms
-  physics_step: mean=27.8ms, total=8.33s, count=300, min=14.6ms, max=95.6ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.8ms, max=4397.8ms
-  task_sampling: mean=822.4ms, total=822.4ms, count=1, min=822.4ms, max=822.4ms
-  task_specific_sample: mean=817.4ms, total=817.4ms, count=1, min=817.4ms, max=817.4ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=634.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:07:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:07:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 20:07:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:07:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:07:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018348m
-[05/10 20:07:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:07:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:07:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87129868  0.73423169  0.01834826] yaw=-167.5deg
-[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77306469  0.26893947  0.01834826] yaw=172.5deg
-[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01722966  0.89339816  0.01834826] yaw=-147.9deg
-[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:07:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:07:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms
-[05/10 20:07:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.734, 0.018)
-[05/10 20:07:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/10 20:07:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:07:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 20:07:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:07:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:07:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 20:07:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
-[05/10 20:07:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 100.600[deg]
-[05/10 20:07:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:10:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:10:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:10:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:10:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:10:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:10:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:10:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.83s (batch: 4.10s, save: 8.74s)
-[05/10 20:10:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.53s:
-  episode_total: mean=205.22s, total=205.22s, count=1, min=205222.3ms, max=205222.3ms
-  sensor_polling: mean=522.3ms, total=156.69s, count=300, min=452.0ms, max=899.3ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.9ms, max=8735.9ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.8ms, max=65.5ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.4ms, max=4096.4ms
-  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
-  task_specific_sample: mean=521.9ms, total=521.9ms, count=1, min=521.9ms, max=521.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:10:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:10:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:10:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 20:10:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:10:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:10:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056383m
-[05/10 20:10:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:10:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:10:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86354097  0.64512573  0.05638315] yaw=-161.2deg
-[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02717345  1.13850148  0.05638315] yaw=-139.3deg
-[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87215456  0.62337265  0.05638315] yaw=-167.1deg
-[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:10:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:10:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=149.0ms
-[05/10 20:10:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.645, 0.056)
-[05/10 20:10:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg
-[05/10 20:10:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:10:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:10:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:10:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:10:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 20:10:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:10:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:10:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 20:10:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True
-[05/10 20:10:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.836[deg]
-[05/10 20:10:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:13:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:13:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:13:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:13:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 20:14:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:14:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:14:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.41s (batch: 4.03s, save: 8.38s)
-[05/10 20:14:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=203.87s, total=203.87s, count=1, min=203870.5ms, max=203870.5ms
-  sensor_polling: mean=518.9ms, total=155.15s, count=299, min=440.2ms, max=869.5ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.2ms, max=8377.2ms
-  physics_step: mean=25.1ms, total=7.50s, count=299, min=15.4ms, max=45.9ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
-  task_sampling: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
-  task_specific_sample: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:14:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:14:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:14:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
-[05/10 20:14:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:14:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:14:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059493m
-[05/10 20:14:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:14:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:14:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88471718  0.98891332  0.05949306] yaw=-138.4deg
-[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7178964   0.11882213  0.05949306] yaw=158.2deg
-[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88644938  0.72659243  0.05949306] yaw=-156.5deg
-[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:14:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:14:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.5ms
-[05/10 20:14:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.989, 0.059)
-[05/10 20:14:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg
-[05/10 20:14:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:14:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:14:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 20:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/10 20:14:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:14:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:14:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/10 20:14:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.591s, found feasible grasp: True
-[05/10 20:14:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.045[deg]
-[05/10 20:14:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:15:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:15:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:16:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:17:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:17:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:17:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.24s (batch: 4.17s, save: 8.08s)
-[05/10 20:17:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
-  episode_total: mean=205.31s, total=205.31s, count=1, min=205308.1ms, max=205308.1ms
-  sensor_polling: mean=519.3ms, total=155.80s, count=300, min=443.4ms, max=1083.2ms
-  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8077.3ms, max=8077.3ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.5ms, max=72.4ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4166.2ms, max=4166.2ms
-  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
-  task_specific_sample: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:17:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:17:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 20:17:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:17:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:17:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006236m
-[05/10 20:17:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:17:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:17:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69326567  0.87891251  0.00623648] yaw=-163.2deg
-[05/10 20:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67747115  0.73378534  0.00623648] yaw=-155.1deg
-[05/10 20:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:17:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:17:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.1ms, total=256.1ms
-[05/10 20:17:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.879, 0.006)
-[05/10 20:17:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg
-[05/10 20:17:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
-[05/10 20:17:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:17:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 20:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 20:17:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:17:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:17:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 20:17:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: True
-[05/10 20:17:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.043[deg]
-[05/10 20:17:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:17:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:17:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 20:17:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:17:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:17:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097137m
-[05/10 20:17:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:17:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:17:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02393191  0.84978143  0.09713699] yaw=-155.2deg
-[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:17:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8552833   0.51619355  0.09713699] yaw=-175.2deg
-[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:17:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97405118  1.1302358   0.09713699] yaw=-138.3deg
-[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:17:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:17:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.0ms, total=231.1ms
-[05/10 20:17:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.850, 0.097)
-[05/10 20:17:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
-[05/10 20:17:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:17:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 20:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 20:17:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:17:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:17:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:17:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/10 20:17:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.358[m] 85.103[deg]
-[05/10 20:17:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:20:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:20:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:20:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:20:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 20:20:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:20:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:20:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.92s (batch: 4.26s, save: 8.65s)
-[05/10 20:20:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
-  episode_total: mean=95.32s, total=190.63s, count=2, min=3476.5ms, max=187155.9ms
-  sensor_polling: mean=486.8ms, total=142.64s, count=293, min=453.7ms, max=749.3ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8652.9ms, max=8652.9ms
-  physics_step: mean=22.6ms, total=6.63s, count=293, min=16.6ms, max=55.9ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.4ms, max=4262.4ms
-  task_sampling: mean=538.3ms, total=1.08s, count=2, min=521.0ms, max=555.6ms
-  task_specific_sample: mean=534.5ms, total=1.07s, count=2, min=517.9ms, max=551.1ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=445.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:20:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:20:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/10 20:20:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:20:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:20:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080733m
-[05/10 20:20:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:20:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:20:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8959144   0.39965657  0.08073316] yaw=176.8deg
-[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81870014  0.53109804  0.08073316] yaw=-181.0deg
-[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6482055   0.50628574  0.08073316] yaw=-188.7deg
-[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:20:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:20:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms
-[05/10 20:20:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.400, 0.081)
-[05/10 20:20:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg
-[05/10 20:20:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:20:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 20:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 20:20:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:20:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:20:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 20:20:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.478s, found feasible grasp: True
-[05/10 20:20:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.342[m] 85.876[deg]
-[05/10 20:20:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:21:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:22:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:22:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:22:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:22:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:22:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:22:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 20:22:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.385s, found feasible grasp: True
-[05/10 20:22:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.570[deg]
-[05/10 20:22:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:22:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:22:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 20:22:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:22:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:22:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039093m
-[05/10 20:22:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:22:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:22:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65915256  0.1350582   0.03909308] yaw=162.1deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92861816  0.4686103   0.03909308] yaw=182.2deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85250587  1.11219742  0.03909308] yaw=-154.3deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:22:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:22:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms
-[05/10 20:22:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.135, 0.039)
-[05/10 20:22:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg
-[05/10 20:22:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:22:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:22:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 20:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:22:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 20:22:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True
-[05/10 20:22:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.699[m] 103.046[deg]
-[05/10 20:22:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 20:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.431s, found feasible grasp: True
-[05/10 20:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.184[deg]
-[05/10 20:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:25:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:25:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
-[05/10 20:25:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.87s:
-  episode_total: mean=146.33s, total=292.66s, count=2, min=111387.6ms, max=181271.8ms
-  sensor_polling: mean=497.3ms, total=244.67s, count=492, min=445.8ms, max=847.8ms
-  physics_step: mean=23.8ms, total=11.70s, count=492, min=14.5ms, max=81.0ms
-  task_sampling: mean=435.2ms, total=870.3ms, count=2, min=420.0ms, max=450.4ms
-  task_specific_sample: mean=431.1ms, total=862.3ms, count=2, min=416.3ms, max=446.0ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.0ms, max=2.4ms
-  mj_forward_sync: mean=552.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:25:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:25:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 20:25:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:25:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:25:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076943m
-[05/10 20:25:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:25:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:25:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69991331  0.91144182  0.0769429 ] yaw=-150.5deg
-[05/10 20:25:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:25:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80950004  0.57543817  0.0769429 ] yaw=-163.1deg
-[05/10 20:25:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:25:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91463289  0.15407389  0.0769429 ] yaw=146.9deg
-[05/10 20:25:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:25:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:25:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=712.4ms, total=712.5ms
-[05/10 20:25:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.911, 0.077)
-[05/10 20:25:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
-[05/10 20:25:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.091m
-[05/10 20:25:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:25:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 20:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.150s
-[05/10 20:25:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:25:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:25:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps
-[05/10 20:25:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.994s, found feasible grasp: True
-[05/10 20:25:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.672[m] 94.128[deg]
-[05/10 20:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:28:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:29:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:29:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:29:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:29:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:29:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:29:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.31s (batch: 6.02s, save: 9.29s)
-[05/10 20:29:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.09s:
-  episode_total: mean=212.85s, total=212.85s, count=1, min=212846.1ms, max=212846.1ms
-  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=439.8ms, max=990.5ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.3ms, max=9289.3ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.3ms, max=114.3ms
-  save_batch_prep: mean=6.02s, total=6.02s, count=1, min=6019.5ms, max=6019.5ms
-  task_sampling: mean=1.09s, total=1.09s, count=1, min=1089.6ms, max=1089.6ms
-  task_specific_sample: mean=1.09s, total=1.09s, count=1, min=1085.1ms, max=1085.1ms
-  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  mj_forward_sync: mean=631.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:29:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:29:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:29:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 20:29:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:29:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:29:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061030m
-[05/10 20:29:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:29:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:29:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87587662  0.07695893  0.06103033] yaw=154.5deg
-[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68943176  0.66044492  0.06103033] yaw=-180.6deg
-[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17400029  1.13292563  0.06103033] yaw=-127.8deg
-[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:29:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:29:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms
-[05/10 20:29:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.077, 0.061)
-[05/10 20:29:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg
-[05/10 20:29:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:29:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:29:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 20:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
-[05/10 20:29:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:29:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:29:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:29:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True
-[05/10 20:29:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.466[m] 79.994[deg]
-[05/10 20:29:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:32:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:32:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:32:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:32:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:32:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.095s, found 72 non-colliding grasps
-[05/10 20:32:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 72 grasps in 1.081s, found feasible grasp: True
-[05/10 20:32:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.323[deg]
-[05/10 20:32:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:32:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:32:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:32:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:32:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:32:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:32:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:32:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 20:32:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:32:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:32:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002786m
-[05/10 20:32:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:32:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:32:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0424516   1.14962844  0.00278648] yaw=-130.8deg
-[05/10 20:32:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:32:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76309927 -0.02563752  0.00278648] yaw=161.1deg
-[05/10 20:32:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:32:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:32:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.7ms, total=351.8ms
-[05/10 20:32:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.150, 0.003)
-[05/10 20:32:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg
-[05/10 20:32:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.939m
-[05/10 20:32:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:32:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:32:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:32:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:32:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:32:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 20:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/10 20:32:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:32:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:32:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:32:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.357s, found feasible grasp: True
-[05/10 20:32:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.529[m] 87.157[deg]
-[05/10 20:32:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:32:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:32:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:32:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
-[05/10 20:32:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:32:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:32:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014864m
-[05/10 20:32:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:32:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:32:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89250689  1.00411072  0.01486406] yaw=-150.5deg
-[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69865653  0.05965753  0.01486406] yaw=151.5deg
-[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69817857  0.62716     0.01486406] yaw=-182.2deg
-[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:32:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:32:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.7ms, total=261.7ms
-[05/10 20:32:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.004, 0.015)
-[05/10 20:32:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
-[05/10 20:32:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:32:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:32:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:32:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 20:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 20:32:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:32:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:32:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 20:32:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.651s, found feasible grasp: True
-[05/10 20:32:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 95.144[deg]
-[05/10 20:32:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:33:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:33:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:33:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:35:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:35:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:35:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:35:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:35:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:35:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:35:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 11.98s (batch: 3.84s, save: 8.15s)
-[05/10 20:35:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.71s:
-  episode_total: mean=130.16s, total=390.48s, count=3, min=5752.3ms, max=197097.2ms
-  sensor_polling: mean=509.7ms, total=292.57s, count=574, min=422.7ms, max=1066.4ms
-  physics_step: mean=24.0ms, total=13.80s, count=574, min=17.9ms, max=121.0ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8145.5ms, max=8145.5ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3837.6ms, max=3837.6ms
-  task_sampling: mean=569.5ms, total=1.71s, count=3, min=527.6ms, max=642.9ms
-  task_specific_sample: mean=565.3ms, total=1.70s, count=3, min=523.6ms, max=639.0ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=528.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 20:35:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:35:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:35:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 20:35:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:35:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:35:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001198m
-[05/10 20:35:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:35:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:35:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62053964  0.53992263  0.00119764] yaw=-177.3deg
-[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89362921  0.36861494  0.00119764] yaw=179.1deg
-[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81444606  0.35710162  0.00119764] yaw=176.4deg
-[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:35:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:35:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.8ms
-[05/10 20:35:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.621, 0.540, 0.001)
-[05/10 20:35:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg
-[05/10 20:35:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:35:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:35:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:35:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 20:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 20:35:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:35:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:35:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 20:35:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True
-[05/10 20:35:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.676[m] 95.374[deg]
-[05/10 20:35:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:38:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:38:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:38:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
-[05/10 20:38:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:39:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:39:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:39:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.35s, save: 9.58s)
-[05/10 20:39:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.00s, total=190.00s, count=1, min=190002.7ms, max=190002.7ms
-  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=422.6ms, max=686.6ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.6ms, max=9577.6ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.4ms, max=79.6ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.8ms, max=4351.8ms
-  task_sampling: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
-  task_specific_sample: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:39:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:39:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:39:07 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/10 20:39:07 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5918.11s
-  House averages:
-  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
-  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
-  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
-  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
-  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
-  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:39:07 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 20:39:07 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5918.11s
-  Worker averages:
-  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
-  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
-  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
-  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
-  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
-  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
-  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
-  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
-  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
-  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
-  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
-  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
-  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
-  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
-  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:39:10 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 20:39:10 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/10 20:39:10 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
-==========================================
diff --git a/fridge_7/chunk_007/shard_4_of_4.log b/fridge_7/chunk_007/shard_4_of_4.log
deleted file mode 100644
index 745c87137fff612eb238b5fefebed38c40ee3e00..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_007/shard_4_of_4.log
+++ /dev/null
@@ -1,1701 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
-  shard=4/4  seed=20704  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:49 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 19:44:49 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 19:44:49 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 19:44:49 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bdac2d7c950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20704,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 19:44:49 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 19:44:49 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 136179499016976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136179499016976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 136179499016976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136179499016976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 136179505132752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136179505132752 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136179505133584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136179505133584 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136179505133584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136179505133584 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136179505132752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136179505132752 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136179499037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136179499037072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136179499029584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136179499029584 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 136179499029584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136179499029584 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136179499037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136179499037072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 19:44:49 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6340bc55d980 at 0x7bdac319ec50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6340bc58b520 at 0x7bdac2bad790>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6340bc58b520 at 0x7bdac332d110>
-[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068289m
-[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 19:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72708946  0.35574647  0.0682893 ] yaw=170.2deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98115611  0.99723023  0.0682893 ] yaw=-154.9deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90074078  0.62346739  0.0682893 ] yaw=-163.5deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:44:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:44:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=13.7ms, retries=133.5ms, total=147.2ms
-[05/10 19:44:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.356, 0.068)
-[05/10 19:44:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg
-[05/10 19:44:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.438s
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
-[05/10 19:45:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True
-[05/10 19:45:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.567[m] 93.709[deg]
-[05/10 19:45:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:48:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 19:48:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 19:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:48:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:48:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:48:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 19:48:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True
-[05/10 19:48:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.960[deg]
-[05/10 19:48:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 19:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 19:48:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 19:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 19:48:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 19:48:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:48:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 19:48:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:49:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 19:49:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:49:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.79s (batch: 4.62s, save: 9.17s)
-[05/10 19:49:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.53s:
-  episode_total: mean=255.77s, total=255.77s, count=1, min=255768.9ms, max=255768.9ms
-  sensor_polling: mean=523.7ms, total=157.11s, count=300, min=428.4ms, max=849.4ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.3ms, max=9167.3ms
-  physics_step: mean=28.7ms, total=8.60s, count=300, min=14.9ms, max=93.6ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4621.6ms, max=4621.6ms
-  task_sampling: mean=3.53s, total=3.53s, count=1, min=3530.6ms, max=3530.6ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  task_specific_sample: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:49:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:49:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:49:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:49:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:49:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:49:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 19:49:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:49:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:49:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043876m
-[05/10 19:49:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:49:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:49:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:49:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00292902  1.13075295  0.04387582] yaw=-126.0deg
-[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:49:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:49:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93287159  1.07000864  0.04387582] yaw=-136.3deg
-[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97710951  1.01034935  0.04387582] yaw=-140.9deg
-[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:49:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:49:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms
-[05/10 19:49:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.131, 0.044)
-[05/10 19:49:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.0 deg
-[05/10 19:49:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
-[05/10 19:49:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:49:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:49:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:49:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:49:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:49:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 19:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 19:49:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:49:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:49:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 19:49:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.557s, found feasible grasp: True
-[05/10 19:49:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.556[m] 80.154[deg]
-[05/10 19:49:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:50:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:50:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 19:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 19:50:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:50:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:50:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 19:50:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True
-[05/10 19:50:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.606[deg]
-[05/10 19:50:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:50:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:51:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:52:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:52:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 19:52:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:52:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:52:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:52:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 16.55s (batch: 5.01s, save: 11.54s)
-[05/10 19:52:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
-  episode_total: mean=212.32s, total=212.32s, count=1, min=212319.4ms, max=212319.4ms
-  sensor_polling: mean=508.1ms, total=152.43s, count=300, min=443.6ms, max=1214.5ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11543.9ms, max=11543.9ms
-  physics_step: mean=24.7ms, total=7.41s, count=300, min=17.3ms, max=99.0ms
-  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5009.2ms, max=5009.2ms
-  task_sampling: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
-  task_specific_sample: mean=448.4ms, total=448.4ms, count=1, min=448.4ms, max=448.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:52:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:52:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:52:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 19:52:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:52:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:52:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038275m
-[05/10 19:52:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:52:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:52:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02022011  0.96221966  0.0382746 ] yaw=-147.8deg
-[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86749705  0.84158363  0.0382746 ] yaw=-153.0deg
-[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79249019  0.28872343  0.0382746 ] yaw=167.3deg
-[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:52:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:52:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms
-[05/10 19:52:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.962, 0.038)
-[05/10 19:52:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg
-[05/10 19:52:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:52:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:52:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:52:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 19:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 19:52:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:52:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:52:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 19:52:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True
-[05/10 19:52:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 94.371[deg]
-[05/10 19:52:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:53:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:53:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:55:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:55:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:55:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 19:55:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:56:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:56:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:56:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.19s (batch: 4.25s, save: 8.94s)
-[05/10 19:56:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=210.62s, total=210.62s, count=1, min=210620.4ms, max=210620.4ms
-  sensor_polling: mean=520.9ms, total=156.27s, count=300, min=441.3ms, max=982.0ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.4ms, max=98.2ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.8ms, max=4247.8ms
-  task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
-  task_specific_sample: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=412.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:56:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:56:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:56:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 19:56:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:56:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:56:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082422m
-[05/10 19:56:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:56:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:56:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71475185  0.62963193  0.08242201] yaw=-177.5deg
-[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81386772  1.05705999  0.08242201] yaw=-152.1deg
-[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:56:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78052028  1.01621104  0.08242201] yaw=-157.4deg
-[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:56:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:56:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.3ms, total=304.3ms
-[05/10 19:56:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.630, 0.082)
-[05/10 19:56:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg
-[05/10 19:56:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.999m
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:56:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:56:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:56:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 19:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/10 19:56:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:56:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:56:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 19:56:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.483s, found feasible grasp: True
-[05/10 19:56:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 93.277[deg]
-[05/10 19:56:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 19:57:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 19:57:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 19:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 19:59:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 19:59:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:59:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 19:59:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 19:59:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 19:59:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 19:59:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.37s (batch: 5.91s, save: 9.46s)
-[05/10 19:59:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.62s:
-  episode_total: mean=213.16s, total=213.16s, count=1, min=213164.6ms, max=213164.6ms
-  sensor_polling: mean=529.1ms, total=158.74s, count=300, min=448.3ms, max=995.4ms
-  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9458.1ms, max=9458.1ms
-  physics_step: mean=25.3ms, total=7.60s, count=300, min=17.9ms, max=86.3ms
-  save_batch_prep: mean=5.91s, total=5.91s, count=1, min=5911.8ms, max=5911.8ms
-  task_sampling: mean=620.9ms, total=620.9ms, count=1, min=620.9ms, max=620.9ms
-  task_specific_sample: mean=616.4ms, total=616.4ms, count=1, min=616.4ms, max=616.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 19:59:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:59:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 19:59:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:59:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:59:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036506m
-[05/10 19:59:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:59:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:59:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98477241  1.19896671  0.03650606] yaw=-133.1deg
-[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11664319  1.03282957  0.03650606] yaw=-145.4deg
-[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6947743   0.12996194  0.03650606] yaw=156.7deg
-[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:59:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:59:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.4ms, total=157.4ms
-[05/10 19:59:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.199, 0.037)
-[05/10 19:59:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
-[05/10 19:59:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:59:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 19:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 19:59:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:59:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:59:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 19:59:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.816s, found feasible grasp: True
-[05/10 19:59:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.564[m] 86.473[deg]
-[05/10 19:59:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 19:59:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 19:59:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 19:59:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 19:59:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 19:59:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035222m
-[05/10 19:59:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 19:59:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 19:59:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96538032  0.95643658  0.03522206] yaw=-147.3deg
-[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79160999  0.99739721  0.03522206] yaw=-145.1deg
-[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95478319  0.74202644  0.03522206] yaw=-167.0deg
-[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 19:59:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 19:59:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.3ms, total=80.4ms
-[05/10 19:59:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.956, 0.035)
-[05/10 19:59:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
-[05/10 19:59:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 19:59:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 19:59:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 19:59:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 19:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/10 19:59:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 19:59:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 19:59:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 19:59:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
-[05/10 19:59:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.454[m] 92.355[deg]
-[05/10 19:59:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 19:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 19:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:00:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:02:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:03:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:03:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:03:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 16.65s (batch: 4.24s, save: 12.41s)
-[05/10 20:03:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.06s:
-  episode_total: mean=107.91s, total=215.81s, count=2, min=3803.2ms, max=212009.0ms
-  sensor_polling: mean=519.7ms, total=155.91s, count=300, min=444.9ms, max=797.8ms
-  save_trajectories: mean=12.41s, total=12.41s, count=1, min=12409.7ms, max=12409.7ms
-  physics_step: mean=25.3ms, total=7.60s, count=300, min=19.1ms, max=63.1ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.8ms, max=4239.8ms
-  task_sampling: mean=529.4ms, total=1.06s, count=2, min=381.0ms, max=677.8ms
-  task_specific_sample: mean=525.4ms, total=1.05s, count=2, min=377.7ms, max=673.1ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
-  mj_forward_sync: mean=490.2us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:03:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:03:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:03:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:03:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/10 20:03:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:03:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:03:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087094m
-[05/10 20:03:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:03:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:03:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:03:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89367425  0.74146984  0.08709366] yaw=-154.1deg
-[05/10 20:03:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:03:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9214169   0.79946207  0.08709366] yaw=-154.6deg
-[05/10 20:03:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85532954  0.77365451  0.08709366] yaw=-170.4deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:03:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:03:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=363.9ms, total=363.9ms
-[05/10 20:03:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.741, 0.087)
-[05/10 20:03:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
-[05/10 20:03:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:03:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:03:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:03:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.136s
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:03:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 20:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True
-[05/10 20:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.437[m] 90.822[deg]
-[05/10 20:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:04:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:04:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:06:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:06:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:06:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:06:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:07:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:07:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:07:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.17s (batch: 4.80s, save: 10.37s)
-[05/10 20:07:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.70s:
-  episode_total: mean=213.14s, total=213.14s, count=1, min=213139.9ms, max=213139.9ms
-  sensor_polling: mean=521.1ms, total=156.32s, count=300, min=448.9ms, max=900.1ms
-  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10365.3ms, max=10365.3ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.0ms, max=67.6ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.9ms, max=4802.9ms
-  task_sampling: mean=696.9ms, total=696.9ms, count=1, min=696.9ms, max=696.9ms
-  task_specific_sample: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=479.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:07:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:07:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:07:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/10 20:07:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:07:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:07:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064616m
-[05/10 20:07:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:07:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:07:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:07:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73888786  0.92352233  0.06461639] yaw=-144.8deg
-[05/10 20:07:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:07:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80489313  0.85103879  0.06461639] yaw=-162.2deg
-[05/10 20:07:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8071169  -0.00443702  0.06461639] yaw=146.2deg
-[05/10 20:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:07:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:07:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.7ms, total=345.8ms
-[05/10 20:07:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.924, 0.065)
-[05/10 20:07:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg
-[05/10 20:07:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
-[05/10 20:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:07:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.109s
-[05/10 20:07:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:07:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:07:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 20:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.171s, found feasible grasp: True
-[05/10 20:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.643[m] 85.778[deg]
-[05/10 20:07:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:07:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:07:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 20:07:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:07:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:07:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013716m
-[05/10 20:07:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:07:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:07:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98818644  0.91889723  0.01371619] yaw=-141.5deg
-[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88640984  0.91033985  0.01371619] yaw=-163.5deg
-[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87708224  0.09301418  0.01371619] yaw=156.4deg
-[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:07:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:07:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.6ms, total=92.7ms
-[05/10 20:07:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.919, 0.014)
-[05/10 20:07:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
-[05/10 20:07:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.837m
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:07:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:07:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:07:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 20:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 20:07:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:07:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:07:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 20:07:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True
-[05/10 20:07:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 94.553[deg]
-[05/10 20:07:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:09:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:10:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:10:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:10:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:10:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:10:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:10:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.59s (batch: 4.38s, save: 9.21s)
-[05/10 20:10:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.01s:
-  episode_total: mean=104.44s, total=208.88s, count=2, min=5203.0ms, max=203672.6ms
-  sensor_polling: mean=506.4ms, total=151.91s, count=300, min=434.7ms, max=815.0ms
-  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.9ms, max=9209.9ms
-  physics_step: mean=24.9ms, total=7.48s, count=300, min=15.1ms, max=100.5ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.9ms, max=4379.9ms
-  task_sampling: mean=507.2ms, total=1.01s, count=2, min=373.1ms, max=641.3ms
-  task_specific_sample: mean=503.4ms, total=1.01s, count=2, min=370.1ms, max=636.6ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=488.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:10:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:10:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:10:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:10:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:10:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:10:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 20:10:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:10:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:10:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011212m
-[05/10 20:10:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:10:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:10:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:10:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89366691  0.57811514  0.01121235] yaw=-168.5deg
-[05/10 20:10:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:10:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11284958  1.19406451  0.01121235] yaw=-125.0deg
-[05/10 20:10:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:10:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:10:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms
-[05/10 20:10:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.578, 0.011)
-[05/10 20:10:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg
-[05/10 20:10:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/10 20:10:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:10:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:10:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:10:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:10:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:10:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 20:10:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 20:10:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:10:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:10:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:10:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True
-[05/10 20:10:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.373[m] 89.105[deg]
-[05/10 20:10:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:13:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:13:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:13:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:13:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 20:14:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:14:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:14:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.99s (batch: 4.29s, save: 8.70s)
-[05/10 20:14:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
-  episode_total: mean=208.06s, total=208.06s, count=1, min=208059.1ms, max=208059.1ms
-  sensor_polling: mean=525.2ms, total=155.98s, count=297, min=450.7ms, max=782.8ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8698.2ms, max=8698.2ms
-  physics_step: mean=26.5ms, total=7.87s, count=297, min=15.8ms, max=61.8ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.4ms, max=4290.4ms
-  task_sampling: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
-  task_specific_sample: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:14:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:14:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:14:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 20:14:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:14:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:14:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073920m
-[05/10 20:14:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:14:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:14:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70838269  0.56915282  0.07391988] yaw=-178.4deg
-[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62519264  0.2803166   0.07391988] yaw=180.8deg
-[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:14:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:14:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88792558  0.21896213  0.07391988] yaw=158.3deg
-[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:14:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:14:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.5ms
-[05/10 20:14:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.569, 0.074)
-[05/10 20:14:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg
-[05/10 20:14:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:14:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:14:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 20:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 20:14:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:14:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:14:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:14:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True
-[05/10 20:14:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.611[m] 102.858[deg]
-[05/10 20:14:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:15:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:15:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:16:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:17:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:17:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:17:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:17:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:17:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:17:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.90s (batch: 4.42s, save: 8.49s)
-[05/10 20:17:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
-  episode_total: mean=206.78s, total=206.78s, count=1, min=206779.6ms, max=206779.6ms
-  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=437.9ms, max=903.5ms
-  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.2ms, max=8485.2ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.5ms, max=88.0ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4418.8ms, max=4418.8ms
-  task_sampling: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  task_specific_sample: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:17:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:17:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:17:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 20:17:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:17:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:17:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042313m
-[05/10 20:17:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:17:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:17:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10014243  1.00152518  0.04231266] yaw=-137.0deg
-[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88700679  1.00929081  0.04231266] yaw=-155.9deg
-[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87545255  0.14174766  0.04231266] yaw=163.3deg
-[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:17:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:17:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms
-[05/10 20:17:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.002, 0.042)
-[05/10 20:17:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg
-[05/10 20:17:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
-[05/10 20:17:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:17:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:17:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:17:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:17:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:17:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 20:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 20:17:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:17:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:17:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:17:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
-[05/10 20:17:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.376[m] 84.547[deg]
-[05/10 20:17:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:19:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/10 20:20:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.664s, found feasible grasp: True
-[05/10 20:20:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]
-[05/10 20:20:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:20:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:20:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 20:20:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:20:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:20:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073074m
-[05/10 20:20:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:20:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:20:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94354237  1.2767228   0.07307385] yaw=-133.3deg
-[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06686693  0.9350509   0.07307385] yaw=-140.0deg
-[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06684785  1.09776606  0.07307385] yaw=-127.3deg
-[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:20:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:20:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms
-[05/10 20:20:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 1.277, 0.073)
-[05/10 20:20:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg
-[05/10 20:20:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:20:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 20:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 20:20:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:20:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:20:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:20:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.565s, found feasible grasp: False
-[05/10 20:20:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 20:20:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:20:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/10 20:20:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:20:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:20:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095677m
-[05/10 20:20:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:20:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:20:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72989409  0.58238703  0.09567691] yaw=-165.5deg
-[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87669165  0.10260941  0.09567691] yaw=166.0deg
-[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00511136  1.06358392  0.09567691] yaw=-132.6deg
-[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:20:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:20:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms
-[05/10 20:20:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.582, 0.096)
-[05/10 20:20:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg
-[05/10 20:20:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:20:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:20:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:20:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 20:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 20:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 20:20:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True
-[05/10 20:20:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.573[m] 97.970[deg]
-[05/10 20:20:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:21:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:22:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:23:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:23:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:23:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:23:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:23:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:23:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.66s (batch: 4.42s, save: 9.24s)
-[05/10 20:23:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.29s:
-  episode_total: mean=115.09s, total=345.27s, count=3, min=2067.7ms, max=187431.5ms
-  sensor_polling: mean=471.1ms, total=275.12s, count=584, min=440.0ms, max=752.2ms
-  physics_step: mean=22.2ms, total=12.95s, count=584, min=16.6ms, max=61.6ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9240.6ms, max=9240.6ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.5ms, max=4420.5ms
-  task_sampling: mean=430.8ms, total=1.29s, count=3, min=400.4ms, max=449.3ms
-  task_specific_sample: mean=427.2ms, total=1.28s, count=3, min=397.3ms, max=445.5ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=426.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 20:23:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:23:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:23:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/10 20:23:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:23:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:23:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071713m
-[05/10 20:23:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:23:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:23:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02307979  1.25787344  0.0717127 ] yaw=-130.8deg
-[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69164089  0.46860799  0.0717127 ] yaw=190.5deg
-[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74155942  0.53923079  0.0717127 ] yaw=-175.1deg
-[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:23:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:23:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.3ms
-[05/10 20:23:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.258, 0.072)
-[05/10 20:23:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg
-[05/10 20:23:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:23:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:23:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:23:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 20:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 20:23:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:23:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:23:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 20:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.108s, found feasible grasp: True
-[05/10 20:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.651[m] 93.763[deg]
-[05/10 20:23:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:25:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:25:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:25:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:25:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:25:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps
-[05/10 20:25:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 3.870s, found feasible grasp: False
-[05/10 20:25:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 20:25:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:25:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 20:25:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:25:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:25:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021879m
-[05/10 20:25:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:25:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:25:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:46 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=967.5ms, total=967.6ms
-[05/10 20:25:46 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:25:46 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:25:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:25:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/10 20:25:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:25:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:25:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076463m
-[05/10 20:25:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:25:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:25:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8200157   0.55872999  0.07646286] yaw=-185.4deg
-[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83766805  1.12004051  0.07646286] yaw=-135.2deg
-[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20940059  1.08617365  0.07646286] yaw=-125.0deg
-[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:25:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:25:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms
-[05/10 20:25:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.559, 0.076)
-[05/10 20:25:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.4 deg
-[05/10 20:25:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.886m
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:25:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:25:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 20:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/10 20:25:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:25:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:25:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 20:25:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
-[05/10 20:25:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 88.165[deg]
-[05/10 20:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:28:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:28:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:28:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:28:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:28:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:28:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:28:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 20:28:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.626s, found feasible grasp: True
-[05/10 20:28:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.166[deg]
-[05/10 20:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:28:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:28:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 20:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 20:29:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:29:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:29:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
-[05/10 20:29:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.004s, found feasible grasp: True
-[05/10 20:29:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.117[m] 2.408[deg]
-[05/10 20:29:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:29:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
-[05/10 20:29:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=1.28s:
-  episode_total: mean=116.46s, total=349.39s, count=3, min=1000.1ms, max=208372.2ms
-  sensor_polling: mean=510.6ms, total=267.03s, count=523, min=445.1ms, max=929.4ms
-  physics_step: mean=24.7ms, total=12.90s, count=523, min=16.8ms, max=109.9ms
-  task_specific_sample: mean=748.8ms, total=2.25s, count=3, min=458.6ms, max=972.9ms
-  task_sampling: mean=640.8ms, total=1.28s, count=2, min=462.2ms, max=819.4ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=506.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 20:29:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:29:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:29:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:29:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:29:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:29:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:29:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 20:29:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:29:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:29:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004707m
-[05/10 20:29:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:29:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:29:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:29:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90903105  0.28436941  0.004707  ] yaw=170.1deg
-[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:29:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14213062  1.00954712  0.004707  ] yaw=-125.8deg
-[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385513  0.17704352  0.004707  ] yaw=160.1deg
-[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:29:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:29:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.1ms, total=460.2ms
-[05/10 20:29:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.284, 0.005)
-[05/10 20:29:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg
-[05/10 20:29:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
-[05/10 20:29:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:29:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:29:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:29:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:29:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:29:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 20:29:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
-[05/10 20:29:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:29:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:29:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 20:29:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True
-[05/10 20:29:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 97.202[deg]
-[05/10 20:29:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:31:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:31:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:31:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:31:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
-[05/10 20:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True
-[05/10 20:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.625[deg]
-[05/10 20:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:32:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:33:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:33:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
-[05/10 20:33:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:33:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:33:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
-[05/10 20:33:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.91s (batch: 4.37s, save: 10.54s)
-[05/10 20:33:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.80s:
-  episode_total: mean=249.07s, total=249.07s, count=1, min=249068.6ms, max=249068.6ms
-  sensor_polling: mean=519.9ms, total=155.97s, count=300, min=447.4ms, max=1084.5ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.5ms, max=10538.5ms
-  physics_step: mean=26.1ms, total=7.82s, count=300, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
-  task_sampling: mean=801.6ms, total=801.6ms, count=1, min=801.6ms, max=801.6ms
-  task_specific_sample: mean=797.6ms, total=797.6ms, count=1, min=797.6ms, max=797.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=568.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:33:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:33:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
-[05/10 20:33:29 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
-[05/10 20:33:29 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5280.23s
-  House averages:
-  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
-  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
-  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
-  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
-  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
-  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:33:29 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 20:33:29 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5280.23s
-  Worker averages:
-  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
-  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
-  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
-  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
-  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
-  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
-  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
-  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
-  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
-  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
-  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
-  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
-  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
-  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
-  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 20:33:33 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 20:33:33 INFO pipeline.py:1491] Success count: 11, Total count: 12
-[05/10 20:33:33 INFO pipeline.py:1492] Success rate: 91.67%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
-==========================================
diff --git a/fridge_7/chunk_007/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_007/trajectories_batch_1_of_4_cam_rand.h5
deleted file mode 100644
index ecbcff14c8c3f0072bd9b6f9c1a57d692a6660c1..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_007/trajectories_batch_1_of_4_cam_rand.h5
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 20:39:39 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7196189fe1d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20802,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 20:39:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 20:39:39 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7cb5dd7c4e10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20804,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 20:39:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 20:39:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 20:39:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 20:39:39 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bb06d224a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20801,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 20:39:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 20:39:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 20:39:40 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 20:39:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 20:39:40 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7703667e7490>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20803,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 20:39:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 20:39:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 20:39:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 20:39:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 20:39:41 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 20:39:41 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066341m	[env.py: 870]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78184869  0.45385721  0.06634096] yaw=186.4deg	[env.py: 1019]
-05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83374436  0.37243671  0.06634096] yaw=178.1deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73115906  0.35503626  0.06634096] yaw=176.7deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=137.1ms, total=149.8ms	[env.py: 1075]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.454, 0.066)	[env.py: 1079]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg	[env.py: 1082]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091023m	[env.py: 870]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65072881  0.60037137  0.09102282] yaw=-169.0deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73550156 -0.00800756  0.09102282] yaw=163.6deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04409002  0.99226242  0.09102282] yaw=-135.2deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=50.0ms, retries=159.0ms, total=209.0ms	[env.py: 1075]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.600, 0.091)	[env.py: 1079]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010633m	[env.py: 870]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64066221  0.3387437   0.01063263] yaw=173.5deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87704913  0.92342589  0.01063263] yaw=-148.1deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80678526  0.69997008  0.01063263] yaw=-165.4deg	[env.py: 1019]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=23.5ms, retries=127.7ms, total=151.2ms	[env.py: 1075]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.339, 0.011)	[env.py: 1079]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg	[env.py: 1082]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017565m	[env.py: 870]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228617  0.36450351  0.01756466] yaw=167.9deg	[env.py: 1019]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02738909  1.32854016  0.01756466] yaw=-126.5deg	[env.py: 1019]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:39:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=13.6ms, retries=189.7ms, total=203.3ms	[env.py: 1075]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.365, 0.018)	[env.py: 1079]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
-05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:39:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:39:43 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 27.449s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:40:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:40:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:40:10 INFO: [Worker 0] Warmed up parallel IK solver in 27.661s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:40:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:40:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:40:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:40:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:40:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 91.075[deg]	[grasp_sample.py: 539]
-05/10 20:40:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:40:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:40:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:40:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:40:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 79.328[deg]	[grasp_sample.py: 539]
-05/10 20:40:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 28.227s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 28.992s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:40:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:40:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:40:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 87.377[deg]	[grasp_sample.py: 539]
-05/10 20:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:40:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 90.188[deg]	[grasp_sample.py: 539]
-05/10 20:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:40:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:40:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:40:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:40:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:41:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:41:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:41:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:41:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:41:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:42:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:42:59 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:43:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:43:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:43:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:43:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:43:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:43:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:43:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:43:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:43:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:43:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:43:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:43:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:43:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:43:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:43:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:43:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:43:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.15s (batch: 4.21s, save: 8.94s)	[pipeline.py: 300]
-05/10 20:43:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:43:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:43:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.23s (batch: 4.21s, save: 9.02s)	[pipeline.py: 300]
-05/10 20:43:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.12s:
-  episode_total: mean=232.70s, total=232.70s, count=1, min=232703.9ms, max=232703.9ms
-  sensor_polling: mean=517.3ms, total=155.18s, count=300, min=448.2ms, max=747.3ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.0ms, max=8940.0ms
-  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.4ms, max=73.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.0ms, max=4210.0ms
-  task_sampling: mean=3.12s, total=3.12s, count=1, min=3118.6ms, max=3118.6ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  task_specific_sample: mean=445.1ms, total=445.1ms, count=1, min=445.1ms, max=445.1ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=617.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:43:33 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.34s:
-  episode_total: mean=233.66s, total=233.66s, count=1, min=233657.1ms, max=233657.1ms
-  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=444.2ms, max=769.9ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9021.0ms, max=9021.0ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=15.4ms, max=59.6ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.6ms, max=4207.6ms
-  task_sampling: mean=3.34s, total=3.34s, count=1, min=3341.8ms, max=3341.8ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  task_specific_sample: mean=566.8ms, total=566.8ms, count=1, min=566.8ms, max=566.8ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=612.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:43:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:43:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067681m	[env.py: 870]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:43:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:43:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:43:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.11s (batch: 4.22s, save: 8.89s)	[pipeline.py: 300]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76127927  0.12845864  0.06768143] yaw=152.7deg	[env.py: 1019]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17248088  1.07968041  0.06768143] yaw=-139.1deg	[env.py: 1019]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.128, 0.068)	[env.py: 1079]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:43:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:43:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:43:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:43:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:43:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068651m	[env.py: 870]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17742087  1.12913449  0.06865121] yaw=-133.1deg	[env.py: 1019]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07263019  0.90377786  0.06865121] yaw=-136.4deg	[env.py: 1019]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:43:34 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.38s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235744.9ms, max=235744.9ms
-  sensor_polling: mean=518.6ms, total=155.59s, count=300, min=445.8ms, max=782.6ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8892.4ms, max=8892.4ms
-  physics_step: mean=28.1ms, total=8.43s, count=300, min=18.2ms, max=98.4ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.6ms, max=4219.6ms
-  task_sampling: mean=3.38s, total=3.38s, count=1, min=3381.7ms, max=3381.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=406.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=36.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64420704  0.20664363  0.06865121] yaw=161.3deg	[env.py: 1019]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1075]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.177, 1.129, 0.069)	[env.py: 1079]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:43:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:43:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:43:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:43:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:43:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:43:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:43:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.591[m] 98.504[deg]	[grasp_sample.py: 539]
-05/10 20:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:43:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:43:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:43:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:43:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.620[deg]	[grasp_sample.py: 539]
-05/10 20:43:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:43:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:43:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:43:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:43:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:43:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:43:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031722m	[env.py: 870]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:43:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85114707  0.21209078  0.03172185] yaw=157.7deg	[env.py: 1019]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:43:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:43:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02805143  0.99570984  0.03172185] yaw=-134.6deg	[env.py: 1019]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95074595  0.90874406  0.03172185] yaw=-157.1deg	[env.py: 1019]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:43:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms	[env.py: 1075]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.212, 0.032)	[env.py: 1079]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.7 deg	[env.py: 1082]
-05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:43:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:43:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:43:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:43:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:43:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.456[m] 85.843[deg]	[grasp_sample.py: 539]
-05/10 20:43:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:43:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:43:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:43:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:43:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:43:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 3.93s, save: 10.10s)	[pipeline.py: 300]
-05/10 20:43:43 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
-  episode_total: mean=243.41s, total=243.41s, count=1, min=243414.3ms, max=243414.3ms
-  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=441.8ms, max=733.0ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.0ms, max=10097.0ms
-  physics_step: mean=27.5ms, total=8.24s, count=300, min=18.0ms, max=65.0ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
-  task_sampling: mean=3.28s, total=3.28s, count=1, min=3284.8ms, max=3284.8ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=386.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:43:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:43:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:43:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014330m	[env.py: 870]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78585762  0.6720323   0.01432994] yaw=-178.0deg	[env.py: 1019]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86689258  0.54766652  0.01432994] yaw=-164.7deg	[env.py: 1019]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71388448  0.08497337  0.01432994] yaw=153.3deg	[env.py: 1019]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:43:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms	[env.py: 1075]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.672, 0.014)	[env.py: 1079]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg	[env.py: 1082]
-05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:43:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:43:45 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:43:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:43:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:43:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:43:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:43:47 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.477[m] 83.690[deg]	[grasp_sample.py: 539]
-05/10 20:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:44:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:44:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:44:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:44:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:45:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:45:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:45:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:45:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:46:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:46:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]	[grasp_sample.py: 539]
-05/10 20:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:46:02 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:46:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:46:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:46:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:46:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:46:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:46:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:46:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046823m	[env.py: 870]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:46:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0010862   0.13483183  0.04682255] yaw=153.4deg	[env.py: 1019]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71867189  0.82499998  0.04682255] yaw=-150.1deg	[env.py: 1019]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81371373  0.09959363  0.04682255] yaw=163.9deg	[env.py: 1019]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:46:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.8ms, total=293.8ms	[env.py: 1075]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.135, 0.047)	[env.py: 1079]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg	[env.py: 1082]
-05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:46:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:46:04 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:46:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:46:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:46:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:46:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:46:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:46:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:46:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:46:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:46:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.316[m] 89.345[deg]	[grasp_sample.py: 539]
-05/10 20:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:46:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:46:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg]	[grasp_sample.py: 539]
-05/10 20:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:46:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031428m	[env.py: 870]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03326057  0.83407952  0.03142835] yaw=-153.0deg	[env.py: 1019]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72875578  0.21780097  0.03142835] yaw=172.8deg	[env.py: 1019]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77324448  0.84483873  0.03142835] yaw=-152.7deg	[env.py: 1019]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms	[env.py: 1075]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.834, 0.031)	[env.py: 1079]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
-05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:46:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:46:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:46:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:46:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.310[deg]	[grasp_sample.py: 539]
-05/10 20:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:46:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:46:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:46:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:46:36 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:46:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:46:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:46:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:46:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:46:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:46:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:46:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:46:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:46:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:47:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:47:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:47:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:47:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:47:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:47:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.37s (batch: 4.38s, save: 10.99s)	[pipeline.py: 300]
-05/10 20:47:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
-  episode_total: mean=210.65s, total=210.65s, count=1, min=210645.1ms, max=210645.1ms
-  sensor_polling: mean=518.2ms, total=155.46s, count=300, min=446.9ms, max=833.7ms
-  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10985.4ms, max=10985.4ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=15.3ms, max=72.9ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4380.5ms, max=4380.5ms
-  task_sampling: mean=466.5ms, total=466.5ms, count=1, min=466.5ms, max=466.5ms
-  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=422.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:47:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:47:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052877m	[env.py: 870]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84469801  1.10050357  0.05287708] yaw=-142.0deg	[env.py: 1019]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13056681  1.19432385  0.05287708] yaw=-136.2deg	[env.py: 1019]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.3ms, total=336.3ms	[env.py: 1075]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 1.101, 0.053)	[env.py: 1079]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg	[env.py: 1082]
-05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:47:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:47:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:47:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:47:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:47:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 84.164[deg]	[grasp_sample.py: 539]
-05/10 20:47:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:47:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:47:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.29s (batch: 4.76s, save: 11.52s)	[pipeline.py: 300]
-05/10 20:47:17 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=212.61s, total=212.61s, count=1, min=212607.0ms, max=212607.0ms
-  sensor_polling: mean=525.0ms, total=157.49s, count=300, min=452.5ms, max=747.5ms
-  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11523.4ms, max=11523.4ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.3ms, max=52.8ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.3ms, max=4762.3ms
-  task_sampling: mean=502.0ms, total=502.0ms, count=1, min=502.0ms, max=502.0ms
-  task_specific_sample: mean=498.1ms, total=498.1ms, count=1, min=498.1ms, max=498.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:47:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:47:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075274m	[env.py: 870]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90973003  0.30986508  0.0752744 ] yaw=168.9deg	[env.py: 1019]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94880968  0.56225182  0.0752744 ] yaw=-165.5deg	[env.py: 1019]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6846533  0.1864349  0.0752744] yaw=161.0deg	[env.py: 1019]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms	[env.py: 1075]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.310, 0.075)	[env.py: 1079]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
-05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:47:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:47:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:47:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.338[m] 83.787[deg]	[grasp_sample.py: 539]
-05/10 20:47:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:47:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:47:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:47:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:47:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:47:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:47:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.384[deg]	[grasp_sample.py: 539]
-05/10 20:47:51 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:47:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:47:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:47:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:47:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:47:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:47:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056367m	[env.py: 870]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:47:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85209503  1.04861758  0.05636708] yaw=-149.7deg	[env.py: 1019]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00464532  0.87081111  0.05636708] yaw=-161.4deg	[env.py: 1019]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9219073   0.61030998  0.05636708] yaw=-164.8deg	[env.py: 1019]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms	[env.py: 1075]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.049, 0.056)	[env.py: 1079]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
-05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
-05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:47:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:47:53 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:47:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:47:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:47:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:47:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:47:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.644[m] 94.824[deg]	[grasp_sample.py: 539]
-05/10 20:47:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:47:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:47:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:47:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:48:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:48:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:48:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:48:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:48:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:48:51 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:49:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:49:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:49:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:49:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:49:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.755[deg]	[grasp_sample.py: 539]
-05/10 20:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:49:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:49:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002364m	[env.py: 870]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72076745  0.13192661  0.00236352] yaw=152.1deg	[env.py: 1019]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94624838  0.35231675  0.00236352] yaw=172.3deg	[env.py: 1019]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88263174  0.23825297  0.00236352] yaw=174.2deg	[env.py: 1019]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.2ms	[env.py: 1075]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.132, 0.002)	[env.py: 1079]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg	[env.py: 1082]
-05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:49:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:49:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:49:13 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 20:49:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:49:13 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:49:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:49:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:49:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 97.234[deg]	[grasp_sample.py: 539]
-05/10 20:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:49:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:49:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 20:49:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:49:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:49:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:49:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:49:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.579[deg]	[grasp_sample.py: 539]
-05/10 20:49:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:49:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:49:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:49:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.33s (batch: 4.55s, save: 8.78s)	[pipeline.py: 300]
-05/10 20:49:26 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
-  episode_total: mean=174.34s, total=348.69s, count=2, min=149907.6ms, max=198777.8ms
-  sensor_polling: mean=523.9ms, total=278.74s, count=532, min=431.5ms, max=837.4ms
-  physics_step: mean=26.0ms, total=13.86s, count=532, min=15.3ms, max=89.1ms
-  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8784.1ms, max=8784.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.0ms, max=4549.0ms
-  task_sampling: mean=459.9ms, total=919.7ms, count=2, min=403.3ms, max=516.4ms
-  task_specific_sample: mean=456.0ms, total=911.9ms, count=2, min=400.0ms, max=511.9ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
-  mj_forward_sync: mean=491.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:49:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:49:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:49:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015332m	[env.py: 870]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81948029  0.39008478  0.0153316 ] yaw=170.3deg	[env.py: 1019]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71098987  0.56772336  0.0153316 ] yaw=-164.9deg	[env.py: 1019]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84129966  0.52357486  0.0153316 ] yaw=-185.8deg	[env.py: 1019]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.0ms	[env.py: 1075]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.390, 0.015)	[env.py: 1079]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
-05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:49:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:49:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:49:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:49:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.447[m] 93.872[deg]	[grasp_sample.py: 539]
-05/10 20:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:49:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:50:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:50:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:50:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:50:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:50:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:50:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.695s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:50:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.598[deg]	[grasp_sample.py: 539]
-05/10 20:50:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:50:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:50:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:50:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003464m	[env.py: 870]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01364107  0.96161775  0.00346449] yaw=-135.9deg	[env.py: 1019]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88882081  0.67914259  0.00346449] yaw=-164.8deg	[env.py: 1019]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87545053  0.78924939  0.00346449] yaw=-168.7deg	[env.py: 1019]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms	[env.py: 1075]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.962, 0.003)	[env.py: 1079]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
-05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
-05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:50:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:50:10 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:50:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:50:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:50:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.926[deg]	[grasp_sample.py: 539]
-05/10 20:50:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:50:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:50:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:50:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:50:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 20:50:38 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.44s:
-  episode_total: mean=139.88s, total=419.65s, count=3, min=106986.1ms, max=165177.7ms
-  sensor_polling: mean=514.3ms, total=360.49s, count=701, min=440.7ms, max=817.5ms
-  physics_step: mean=25.4ms, total=17.84s, count=701, min=16.1ms, max=78.5ms
-  task_sampling: mean=481.2ms, total=1.44s, count=3, min=442.6ms, max=545.8ms
-  task_specific_sample: mean=477.5ms, total=1.43s, count=3, min=438.6ms, max=542.4ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.2ms
-  mj_forward_sync: mean=515.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=23.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:50:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:50:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:50:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:50:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:50:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:50:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:50:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040730m	[env.py: 870]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:50:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89180579  0.63198084  0.04073012] yaw=-162.3deg	[env.py: 1019]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7621687   0.35418779  0.04073012] yaw=163.0deg	[env.py: 1019]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03914093  0.8408638   0.04073012] yaw=-144.2deg	[env.py: 1019]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:50:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms	[env.py: 1075]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.632, 0.041)	[env.py: 1079]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg	[env.py: 1082]
-05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:50:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:50:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:50:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:50:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:50:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:50:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:50:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:50:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 87.704[deg]	[grasp_sample.py: 539]
-05/10 20:50:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:50:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:50:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:50:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:51:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:51:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:51:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:51:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:51:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:52:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:52:19 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:52:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:52:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:52:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:52:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:52:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:52:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:52:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:52:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:52:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.29s (batch: 4.24s, save: 9.05s)	[pipeline.py: 300]
-05/10 20:52:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:52:53 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
-  episode_total: mean=205.00s, total=205.00s, count=1, min=204999.9ms, max=204999.9ms
-  sensor_polling: mean=524.7ms, total=157.42s, count=300, min=442.7ms, max=971.5ms
-  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.9ms, max=9050.9ms
-  physics_step: mean=27.3ms, total=8.19s, count=300, min=15.4ms, max=67.5ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.0ms, max=4240.0ms
-  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
-  task_specific_sample: mean=343.5ms, total=343.5ms, count=1, min=343.5ms, max=343.5ms
-  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
-  mj_forward_sync: mean=486.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:52:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:52:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:52:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 4.72s, save: 9.31s)	[pipeline.py: 300]
-05/10 20:52:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
-  episode_total: mean=166.92s, total=333.84s, count=2, min=111273.9ms, max=222568.6ms
-  sensor_polling: mean=517.1ms, total=245.10s, count=474, min=440.3ms, max=777.5ms
-  physics_step: mean=26.1ms, total=12.37s, count=474, min=15.4ms, max=70.0ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.0ms, max=9306.0ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.8ms, max=4724.8ms
-  task_sampling: mean=531.9ms, total=1.06s, count=2, min=492.4ms, max=571.5ms
-  task_specific_sample: mean=528.4ms, total=1.06s, count=2, min=488.5ms, max=568.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=434.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:52:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:52:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:52:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011647m	[env.py: 870]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=410.6ms, total=410.6ms	[env.py: 1105]
-05/10 20:52:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 20:52:55 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 20:52:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:52:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:52:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:52:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:52:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:52:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:52:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053806m	[env.py: 870]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:52:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74697814  0.17920632  0.05380607] yaw=170.6deg	[env.py: 1019]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68632484  0.8800913   0.05380607] yaw=-165.1deg	[env.py: 1019]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:52:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.2ms, total=271.3ms	[env.py: 1075]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.179, 0.054)	[env.py: 1079]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
-05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:52:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:52:57 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:52:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:52:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:52:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:52:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:52:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:52:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:52:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052029m	[env.py: 870]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97705503  0.94216924  0.05202944] yaw=-154.1deg	[env.py: 1019]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79062807  0.65347013  0.05202944] yaw=-170.4deg	[env.py: 1019]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93624977  0.29086984  0.05202944] yaw=155.9deg	[env.py: 1019]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=531.5ms, total=531.6ms	[env.py: 1075]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.942, 0.052)	[env.py: 1079]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
-05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:52:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:52:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:52:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:52:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:52:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:52:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:52:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:52:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 88.529[deg]	[grasp_sample.py: 539]
-05/10 20:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:52:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:52:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 86.296[deg]	[grasp_sample.py: 539]
-05/10 20:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:52:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:52:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:53:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:53:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:53:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:53:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:53:20 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/10 20:53:24 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.00s (batch: 4.61s, save: 9.39s)	[pipeline.py: 300]
-05/10 20:53:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.05s:
-  episode_total: mean=193.63s, total=387.25s, count=2, min=181731.5ms, max=205519.8ms
-  sensor_polling: mean=506.9ms, total=302.62s, count=597, min=434.0ms, max=848.4ms
-  physics_step: mean=24.9ms, total=14.89s, count=597, min=16.3ms, max=75.8ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9388.2ms, max=9388.2ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.7ms, max=4607.7ms
-  task_sampling: mean=525.9ms, total=1.05s, count=2, min=425.3ms, max=626.6ms
-  task_specific_sample: mean=522.3ms, total=1.04s, count=2, min=421.7ms, max=622.9ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
-  mj_forward_sync: mean=473.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:53:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:53:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011572m	[env.py: 870]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88252104  0.46742588  0.01157206] yaw=180.2deg	[env.py: 1019]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87109017  0.94259276  0.01157206] yaw=-159.4deg	[env.py: 1019]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83767209  0.4933306   0.01157206] yaw=-174.6deg	[env.py: 1019]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms	[env.py: 1075]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.467, 0.012)	[env.py: 1079]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg	[env.py: 1082]
-05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:53:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:53:37 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:53:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:53:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:53:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:53:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:53:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.353[m] 83.772[deg]	[grasp_sample.py: 539]
-05/10 20:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:53:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:53:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:53:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:53:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:53:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:53:50 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 20:54:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:54:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:54:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:54:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.72s (batch: 4.81s, save: 9.91s)	[pipeline.py: 300]
-05/10 20:54:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:05 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
-  episode_total: mean=205.32s, total=205.32s, count=1, min=205324.3ms, max=205324.3ms
-  sensor_polling: mean=510.5ms, total=151.12s, count=296, min=446.0ms, max=842.5ms
-  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9906.6ms, max=9906.6ms
-  physics_step: mean=25.4ms, total=7.53s, count=296, min=18.3ms, max=80.5ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4810.0ms, max=4810.0ms
-  task_sampling: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms
-  task_specific_sample: mean=473.9ms, total=473.9ms, count=1, min=473.9ms, max=473.9ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=578.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:54:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:54:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:54:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:54:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:54:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046911m	[env.py: 870]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:54:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03536392  1.13132931  0.04691121] yaw=-126.3deg	[env.py: 1019]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06883586  0.95956311  0.04691121] yaw=-144.1deg	[env.py: 1019]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72163823  0.60130932  0.04691121] yaw=-178.8deg	[env.py: 1019]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms	[env.py: 1075]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.131, 0.047)	[env.py: 1079]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
-05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:54:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:54:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.851s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:54:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 86.020[deg]	[grasp_sample.py: 539]
-05/10 20:54:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:54:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:54:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:54:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:54:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:54:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m	[env.py: 870]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.50799336e-01  3.34986438e-01  4.73153184e-04] yaw=174.8deg	[env.py: 1019]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.46457222e-01  1.06760212e-01  4.73153184e-04] yaw=151.4deg	[env.py: 1019]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07956947e-01  9.32820431e-01  4.73153184e-04] yaw=-157.4deg	[env.py: 1019]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=311.7ms, total=311.7ms	[env.py: 1075]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.335, 0.000)	[env.py: 1079]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
-05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:54:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:54:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:54:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:54:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:54:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.337[m] 94.904[deg]	[grasp_sample.py: 539]
-05/10 20:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:54:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:54:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:54:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:54:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:55:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:55:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:44 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:55:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:55:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:55:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:55:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:55:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:55:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.731[deg]	[grasp_sample.py: 539]
-05/10 20:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:53 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:55:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 20:55:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 20:55:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:55:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:55:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:55:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:55:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:55:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:55:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:55:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:55:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:55:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041680m	[env.py: 870]
-05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:55:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7361259   0.76446087  0.0416802 ] yaw=-160.7deg	[env.py: 1019]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:55:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:55:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.580[deg]	[grasp_sample.py: 539]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76330214  0.66265515  0.0416802 ] yaw=-180.2deg	[env.py: 1019]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=352.9ms, total=352.9ms	[env.py: 1075]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.764, 0.042)	[env.py: 1079]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
-05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
-05/10 20:55:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:55:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:55:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:55:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:55:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:55:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:55:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:55:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:55:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:55:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.762s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:55:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 93.167[deg]	[grasp_sample.py: 539]
-05/10 20:55:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:55:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:55:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 20:56:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:56:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:56:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:56:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:56:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:56:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:56:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:56:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:56:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.93s (batch: 4.28s, save: 10.65s)	[pipeline.py: 300]
-05/10 20:56:25 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.87s:
-  episode_total: mean=103.93s, total=207.87s, count=2, min=424.0ms, max=207445.7ms
-  sensor_polling: mean=512.6ms, total=153.78s, count=300, min=445.6ms, max=860.5ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.7ms, max=10645.7ms
-  physics_step: mean=24.6ms, total=7.37s, count=300, min=16.2ms, max=58.0ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.8ms, max=4283.8ms
-  task_specific_sample: mean=641.4ms, total=1.28s, count=2, min=417.0ms, max=865.7ms
-  task_sampling: mean=869.0ms, total=869.0ms, count=1, min=869.0ms, max=869.0ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=536.7us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:56:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:56:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:56:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097099m	[env.py: 870]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11552595  0.95286329  0.09709915] yaw=-138.6deg	[env.py: 1019]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66141073  0.460656    0.09709915] yaw=184.3deg	[env.py: 1019]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04212281  1.22682431  0.09709915] yaw=-128.7deg	[env.py: 1019]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:56:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.116, 0.953, 0.097)	[env.py: 1079]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
-05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:56:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:56:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:56:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:56:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:56:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:56:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:56:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:56:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.304[m] 84.198[deg]	[grasp_sample.py: 539]
-05/10 20:56:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:56:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:56:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:56:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:56:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:56:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 20:56:44 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 20:56:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:56:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:56:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.55s (batch: 4.45s, save: 11.10s)	[pipeline.py: 300]
-05/10 20:57:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.38s:
-  episode_total: mean=203.31s, total=203.31s, count=1, min=203308.6ms, max=203308.6ms
-  sensor_polling: mean=509.6ms, total=148.30s, count=291, min=440.6ms, max=879.7ms
-  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.5ms, max=11103.5ms
-  physics_step: mean=27.4ms, total=7.98s, count=291, min=18.5ms, max=90.9ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4450.5ms, max=4450.5ms
-  task_sampling: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
-  task_specific_sample: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=411.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:57:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:57:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:57:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:57:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:57:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:57:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:57:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014054m	[env.py: 870]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68662972  0.69979202  0.01405362] yaw=-157.5deg	[env.py: 1019]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92172603  0.53419426  0.01405362] yaw=-167.7deg	[env.py: 1019]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89096877  0.24415586  0.01405362] yaw=171.3deg	[env.py: 1019]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.2ms	[env.py: 1075]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.700, 0.014)	[env.py: 1079]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
-05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:57:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:57:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.283s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:57:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.647[m] 98.468[deg]	[grasp_sample.py: 539]
-05/10 20:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:57:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:57:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:57:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:57:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:57:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:57:25 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:57:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:57:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 20:57:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:58:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:58:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:58:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.00s (batch: 4.89s, save: 11.11s)	[pipeline.py: 300]
-05/10 20:58:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.17s:
-  episode_total: mean=118.94s, total=237.87s, count=2, min=4011.8ms, max=233859.0ms
-  sensor_polling: mean=529.2ms, total=158.76s, count=300, min=452.6ms, max=946.7ms
-  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11107.9ms, max=11107.9ms
-  physics_step: mean=27.0ms, total=8.09s, count=300, min=15.1ms, max=109.1ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.6ms, max=4888.6ms
-  task_sampling: mean=583.2ms, total=1.17s, count=2, min=569.1ms, max=597.2ms
-  task_specific_sample: mean=579.6ms, total=1.16s, count=2, min=565.5ms, max=593.6ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
-  mj_forward_sync: mean=473.6us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:58:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:58:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:58:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058236m	[env.py: 870]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8177581   0.64753227  0.05823607] yaw=-180.5deg	[env.py: 1019]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90228462  1.1897263   0.05823607] yaw=-142.9deg	[env.py: 1019]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06716775  1.06635453  0.05823607] yaw=-126.6deg	[env.py: 1019]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.4ms	[env.py: 1075]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.648, 0.058)	[env.py: 1079]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg	[env.py: 1082]
-05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:58:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:58:09 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:58:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:58:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:58:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:58:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.468[m] 92.401[deg]	[grasp_sample.py: 539]
-05/10 20:58:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:58:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:58:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:58:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:58:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:58:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:58:43 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:58:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:59:06 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:59:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 20:59:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:59:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 20:59:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 20:59:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:59:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:59:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:59:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.32s (batch: 4.36s, save: 8.96s)	[pipeline.py: 300]
-05/10 20:59:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.18s:
-  episode_total: mean=191.69s, total=383.39s, count=2, min=176533.5ms, max=206856.0ms
-  sensor_polling: mean=515.9ms, total=306.95s, count=595, min=442.3ms, max=897.5ms
-  physics_step: mean=25.6ms, total=15.24s, count=595, min=16.5ms, max=87.9ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8960.6ms, max=8960.6ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.9ms, max=4358.9ms
-  task_sampling: mean=592.5ms, total=1.18s, count=2, min=564.0ms, max=620.9ms
-  task_specific_sample: mean=588.0ms, total=1.18s, count=2, min=559.5ms, max=616.4ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.1ms, max=3.0ms
-  mj_forward_sync: mean=665.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
-  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:59:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:59:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:59:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:59:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:59:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:59:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022429m	[env.py: 870]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:59:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98518954  0.11480278  0.02242917] yaw=152.9deg	[env.py: 1019]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62239459  0.68031123  0.02242917] yaw=-180.6deg	[env.py: 1019]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02356828  0.90116622  0.02242917] yaw=-143.7deg	[env.py: 1019]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms	[env.py: 1075]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.115, 0.022)	[env.py: 1079]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg	[env.py: 1082]
-05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:59:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:59:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:59:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:59:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:59:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:59:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:59:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 95.415[deg]	[grasp_sample.py: 539]
-05/10 20:59:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:59:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:59:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 20:59:26 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 20:59:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 20:59:26 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 20:59:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 20:59:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 20:59:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.27s (batch: 4.26s, save: 11.01s)	[pipeline.py: 300]
-05/10 20:59:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s:
-  episode_total: mean=194.88s, total=194.88s, count=1, min=194881.2ms, max=194881.2ms
-  sensor_polling: mean=518.6ms, total=146.24s, count=282, min=452.4ms, max=793.2ms
-  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.8ms, max=11009.8ms
-  physics_step: mean=25.4ms, total=7.15s, count=282, min=18.3ms, max=76.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.7ms, max=4263.7ms
-  task_sampling: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
-  task_specific_sample: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 20:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:59:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:59:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061877m	[env.py: 870]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74420959  0.92878608  0.06187672] yaw=-164.9deg	[env.py: 1019]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76783102  0.23666016  0.06187672] yaw=162.8deg	[env.py: 1019]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97854473  0.90399044  0.06187672] yaw=-147.7deg	[env.py: 1019]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms	[env.py: 1075]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.929, 0.062)	[env.py: 1079]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
-05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:59:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:59:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:59:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:59:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:59:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:59:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.944s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:59:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 94.085[deg]	[grasp_sample.py: 539]
-05/10 20:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 20:59:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 20:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 20:59:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 20:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 20:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 20:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 20:59:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025708m	[env.py: 870]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 20:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03868252  0.9814581   0.02570762] yaw=-133.7deg	[env.py: 1019]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93708032  1.01935324  0.02570762] yaw=-139.8deg	[env.py: 1019]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88106154  0.14791502  0.02570762] yaw=164.8deg	[env.py: 1019]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 20:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms	[env.py: 1075]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.981, 0.026)	[env.py: 1079]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
-05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 20:59:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 20:59:50 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 20:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 20:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 20:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 20:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 20:59:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 20:59:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 87.185[deg]	[grasp_sample.py: 539]
-05/10 20:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 20:59:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 20:59:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:00:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:00:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:00:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:00:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:00:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:00:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:00:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:00:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:00:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 4.25s, save: 9.44s)	[pipeline.py: 300]
-05/10 21:00:30 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=208.07s, total=208.07s, count=1, min=208071.2ms, max=208071.2ms
-  sensor_polling: mean=511.8ms, total=153.53s, count=300, min=442.5ms, max=761.9ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.4ms, max=9443.4ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=18.4ms, max=117.6ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4254.3ms, max=4254.3ms
-  task_sampling: mean=591.1ms, total=591.1ms, count=1, min=591.1ms, max=591.1ms
-  task_specific_sample: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=541.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:00:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:00:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004523m	[env.py: 870]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0550315   1.1760481   0.00452296] yaw=-138.3deg	[env.py: 1019]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90822355  0.73349082  0.00452296] yaw=-155.7deg	[env.py: 1019]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97950935  0.80663366  0.00452296] yaw=-164.8deg	[env.py: 1019]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms	[env.py: 1075]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.176, 0.005)	[env.py: 1079]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg	[env.py: 1082]
-05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:00:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:00:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:00:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:00:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:00:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:00:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:00:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:00:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.502[m] 83.955[deg]	[grasp_sample.py: 539]
-05/10 21:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:00:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:00:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:00:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:01:01 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:01:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:01:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:01:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:01:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:01:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:01:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:01:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:01:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:01:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.044[deg]	[grasp_sample.py: 539]
-05/10 21:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:01:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027318m	[env.py: 870]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78261569  0.41651374  0.02731753] yaw=179.7deg	[env.py: 1019]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94307933  0.23508737  0.02731753] yaw=152.7deg	[env.py: 1019]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95626565  1.09279234  0.02731753] yaw=-149.5deg	[env.py: 1019]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms	[env.py: 1075]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.417, 0.027)	[env.py: 1079]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg	[env.py: 1082]
-05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:01:34 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:01:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:01:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:01:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:01:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:01:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:01:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 91.437[deg]	[grasp_sample.py: 539]
-05/10 21:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:01:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:01:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:01:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:01:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:01:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.09s (batch: 4.17s, save: 8.92s)	[pipeline.py: 300]
-05/10 21:01:40 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
-  episode_total: mean=212.38s, total=212.38s, count=1, min=212377.7ms, max=212377.7ms
-  sensor_polling: mean=529.0ms, total=158.70s, count=300, min=448.9ms, max=1008.7ms
-  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.5ms, max=8919.5ms
-  physics_step: mean=27.6ms, total=8.28s, count=300, min=16.0ms, max=114.8ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.1ms, max=4172.1ms
-  task_sampling: mean=475.4ms, total=475.4ms, count=1, min=475.4ms, max=475.4ms
-  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:01:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:01:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053779m	[env.py: 870]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71426318  0.9031508   0.05377874] yaw=-160.2deg	[env.py: 1019]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96256052  0.08776028  0.05377874] yaw=148.0deg	[env.py: 1019]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75222253  0.66826684  0.05377874] yaw=-173.5deg	[env.py: 1019]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:01:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms	[env.py: 1075]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.903, 0.054)	[env.py: 1079]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
-05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:01:43 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:01:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:01:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:01:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.653[m] 88.589[deg]	[grasp_sample.py: 539]
-05/10 21:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:01:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m	[env.py: 870]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98872619  1.29691195  0.04028312] yaw=-136.1deg	[env.py: 1019]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81060443  0.69824669  0.04028312] yaw=-176.0deg	[env.py: 1019]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77912568  0.04698068  0.04028312] yaw=166.1deg	[env.py: 1019]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms	[env.py: 1075]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.297, 0.040)	[env.py: 1079]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.1 deg	[env.py: 1082]
-05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:01:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:01:50 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:01:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:01:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:01:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:01:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 21:01:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 21:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:01:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:01:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:01:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:01:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029912m	[env.py: 870]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82666199  0.0457798   0.02991188] yaw=142.1deg	[env.py: 1019]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00473511  1.14395742  0.02991188] yaw=-146.2deg	[env.py: 1019]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92932902  0.73246732  0.02991188] yaw=-167.1deg	[env.py: 1019]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms	[env.py: 1075]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.046, 0.030)	[env.py: 1079]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg	[env.py: 1082]
-05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:01:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:01:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:01:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:01:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:01:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:01:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.556[m] 87.567[deg]	[grasp_sample.py: 539]
-05/10 21:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:01:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:01:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:02:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:02:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:02:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:03:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:03:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:03:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:03:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:03:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:03:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:03:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:03:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:03:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:03:10 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.712s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:03:10 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.154[m] 1.185[deg]	[grasp_sample.py: 539]
-05/10 21:03:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:03:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:03:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:03:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:03:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:03:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:03:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:03:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048756m	[env.py: 870]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:03:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07751986  1.20845387  0.04875569] yaw=-137.3deg	[env.py: 1019]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94549433  0.83285474  0.04875569] yaw=-162.9deg	[env.py: 1019]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83567939  0.55893469  0.04875569] yaw=-170.2deg	[env.py: 1019]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:03:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.1ms, total=309.2ms	[env.py: 1075]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.208, 0.049)	[env.py: 1079]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:03:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:03:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:03:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:03:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:03:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:03:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:03:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:03:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:03:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 84.761[deg]	[grasp_sample.py: 539]
-05/10 21:03:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:03:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:03:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:03:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:03:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:03:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 4.16s, save: 9.39s)	[pipeline.py: 300]
-05/10 21:03:23 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.93s:
-  episode_total: mean=109.03s, total=218.06s, count=2, min=3762.9ms, max=214292.6ms
-  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=437.4ms, max=1021.9ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9394.6ms, max=9394.6ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=18.5ms, max=80.1ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4165.0ms, max=4165.0ms
-  task_sampling: mean=464.9ms, total=929.8ms, count=2, min=394.7ms, max=535.1ms
-  task_specific_sample: mean=461.4ms, total=922.8ms, count=2, min=391.6ms, max=531.2ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:03:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:03:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:03:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:03:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070359m	[env.py: 870]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6882743   0.77303825  0.07035882] yaw=-159.0deg	[env.py: 1019]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8717183   0.34470016  0.07035882] yaw=172.0deg	[env.py: 1019]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92836877  0.35679828  0.07035882] yaw=160.4deg	[env.py: 1019]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=445.2ms, total=445.2ms	[env.py: 1075]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.773, 0.070)	[env.py: 1079]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
-05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:03:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:03:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 76.978[deg]	[grasp_sample.py: 539]
-05/10 21:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:04:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:04:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:04:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:04:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:04:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:04:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:04:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:04:50 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:04:52 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:04:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:04:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:05:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:05:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:05:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.82s (batch: 4.82s, save: 8.99s)	[pipeline.py: 300]
-05/10 21:05:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.97s:
-  episode_total: mean=170.04s, total=340.08s, count=2, min=127662.5ms, max=212415.0ms
-  sensor_polling: mean=537.3ms, total=261.66s, count=487, min=453.5ms, max=932.4ms
-  physics_step: mean=25.8ms, total=12.57s, count=487, min=15.6ms, max=105.4ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8994.1ms, max=8994.1ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4821.5ms, max=4821.5ms
-  task_sampling: mean=485.3ms, total=970.7ms, count=2, min=452.0ms, max=518.7ms
-  task_specific_sample: mean=481.5ms, total=963.1ms, count=2, min=448.4ms, max=514.7ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
-  mj_forward_sync: mean=541.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:05:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:05:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:05:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:05:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:05:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:05:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:05:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084557m	[env.py: 870]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:05:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04503367  1.01307581  0.08455656] yaw=-152.1deg	[env.py: 1019]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66509817  0.22701632  0.08455656] yaw=163.0deg	[env.py: 1019]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74879686  0.13037515  0.08455656] yaw=162.7deg	[env.py: 1019]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:05:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms	[env.py: 1075]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.013, 0.085)	[env.py: 1079]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:05:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:05:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:05:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:05:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:05:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:05:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:05:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:05:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 92.015[deg]	[grasp_sample.py: 539]
-05/10 21:05:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:05:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:05:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:05:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:05:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:05:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:05:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:05:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.49s (batch: 4.10s, save: 8.38s)	[pipeline.py: 300]
-05/10 21:05:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.47s:
-  episode_total: mean=72.99s, total=218.97s, count=3, min=2323.8ms, max=211261.8ms
-  sensor_polling: mean=541.8ms, total=162.53s, count=300, min=452.3ms, max=1056.4ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8382.9ms, max=8382.9ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.6ms, max=112.0ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms
-  task_sampling: mean=489.8ms, total=1.47s, count=3, min=445.5ms, max=578.5ms
-  task_specific_sample: mean=486.5ms, total=1.46s, count=3, min=441.3ms, max=575.4ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=452.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:05:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:05:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:05:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072848m	[env.py: 870]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88153064  0.1341821   0.07284762] yaw=158.5deg	[env.py: 1019]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72321941  0.94448097  0.07284762] yaw=-158.3deg	[env.py: 1019]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76383359  0.44076633  0.07284762] yaw=170.8deg	[env.py: 1019]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.134, 0.073)	[env.py: 1079]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
-05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:05:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:05:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:05:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:05:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:05:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:05:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.063s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:05:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.452[m] 91.162[deg]	[grasp_sample.py: 539]
-05/10 21:05:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:05:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.277[deg]	[grasp_sample.py: 539]
-05/10 21:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:05:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:05:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:05:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:05:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:06:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:06:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:06:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:06:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:06:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:06:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:06:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.805s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 21:06:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 21:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:06:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:06:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:06:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046869m	[env.py: 870]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02601262  1.18533956  0.04686902] yaw=-143.7deg	[env.py: 1019]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385857  1.09290373  0.04686902] yaw=-134.1deg	[env.py: 1019]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:06:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.5ms	[env.py: 1075]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.185, 0.047)	[env.py: 1079]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg	[env.py: 1082]
-05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:06:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:06:24 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:06:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:06:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:06:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.624[m] 81.721[deg]	[grasp_sample.py: 539]
-05/10 21:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:06:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:06:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:06:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:06:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:06:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:06:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:06:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:06:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:06:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.72s (batch: 4.80s, save: 11.92s)	[pipeline.py: 300]
-05/10 21:06:55 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
-  episode_total: mean=208.91s, total=208.91s, count=1, min=208912.7ms, max=208912.7ms
-  sensor_polling: mean=504.8ms, total=151.43s, count=300, min=439.2ms, max=782.2ms
-  save_trajectories: mean=11.92s, total=11.92s, count=1, min=11919.7ms, max=11919.7ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.9ms, max=61.1ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.7ms, max=4802.7ms
-  task_sampling: mean=754.1ms, total=754.1ms, count=1, min=754.1ms, max=754.1ms
-  task_specific_sample: mean=749.4ms, total=749.4ms, count=1, min=749.4ms, max=749.4ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=546.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:06:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094808m	[env.py: 870]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86202496  0.11575007  0.09480783] yaw=162.8deg	[env.py: 1019]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86221134  0.90179343  0.09480783] yaw=-158.3deg	[env.py: 1019]
-05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81107541  0.60100077  0.09480783] yaw=-167.9deg	[env.py: 1019]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms	[env.py: 1075]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.116, 0.095)	[env.py: 1079]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
-05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:06:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:06:57 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:06:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:06:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 99.536[deg]	[grasp_sample.py: 539]
-05/10 21:06:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:06:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:06:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:07:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:07:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.008s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:07:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.541[deg]	[grasp_sample.py: 539]
-05/10 21:07:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:08:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:08:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:08:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:08:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:08:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.547s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:08:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.395[deg]	[grasp_sample.py: 539]
-05/10 21:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:08:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:08:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081595m	[env.py: 870]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92635536  0.99444095  0.08159465] yaw=-135.9deg	[env.py: 1019]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77760671  0.5167301   0.08159465] yaw=-171.4deg	[env.py: 1019]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91171985  0.26897134  0.08159465] yaw=154.5deg	[env.py: 1019]
-05/10 21:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:08:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.4ms, total=351.5ms	[env.py: 1075]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.994, 0.082)	[env.py: 1079]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
-05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
-05/10 21:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:08:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:08:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:08:15 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:08:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:08:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:08:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:08:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:08:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.500[deg]	[grasp_sample.py: 539]
-05/10 21:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:08:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:08:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 84.727[deg]	[grasp_sample.py: 539]
-05/10 21:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:08:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:08:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:09:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:09:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.677s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 21:09:03 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 21:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:09:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097057m	[env.py: 870]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06497662  1.15717555  0.09705713] yaw=-127.2deg	[env.py: 1019]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6871944   0.12511657  0.09705713] yaw=156.5deg	[env.py: 1019]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=454.9ms, total=455.0ms	[env.py: 1075]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.157, 0.097)	[env.py: 1079]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg	[env.py: 1082]
-05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:09:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:09:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.997s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:09:09 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.568[m] 92.164[deg]	[grasp_sample.py: 539]
-05/10 21:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:09:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021254m	[env.py: 870]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84313615  0.95330353  0.02125394] yaw=-142.2deg	[env.py: 1019]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02021785  1.06401111  0.02125394] yaw=-139.0deg	[env.py: 1019]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms	[env.py: 1075]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.953, 0.021)	[env.py: 1079]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
-05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:09:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:09:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:09:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.002s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:09:19 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.572[m] 92.767[deg]	[grasp_sample.py: 539]
-05/10 21:09:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:09:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:09:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:09:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:09:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:09:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:09:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.855s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:09:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.359[deg]	[grasp_sample.py: 539]
-05/10 21:09:38 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:09:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:09:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:09:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:09:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:09:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:09:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026858m	[env.py: 870]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:09:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76180604  0.94642698  0.02685766] yaw=-163.8deg	[env.py: 1019]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13545047  1.10226783  0.02685766] yaw=-123.4deg	[env.py: 1019]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70972525  0.54713856  0.02685766] yaw=-178.7deg	[env.py: 1019]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:09:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.8ms	[env.py: 1075]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.946, 0.027)	[env.py: 1079]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
-05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:09:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:09:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:09:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:09:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.657[m] 93.126[deg]	[grasp_sample.py: 539]
-05/10 21:09:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:09:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:09:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:09:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.91s (batch: 5.11s, save: 10.81s)	[pipeline.py: 300]
-05/10 21:09:44 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
-  episode_total: mean=257.86s, total=257.86s, count=1, min=257855.6ms, max=257855.6ms
-  sensor_polling: mean=542.6ms, total=162.78s, count=300, min=454.5ms, max=1055.2ms
-  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.1ms, max=10808.1ms
-  physics_step: mean=26.8ms, total=8.05s, count=300, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5105.8ms, max=5105.8ms
-  task_sampling: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms
-  task_specific_sample: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=409.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:09:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053661m	[env.py: 870]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82116156  0.33465716  0.05366126] yaw=177.5deg	[env.py: 1019]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70464471  0.54473044  0.05366126] yaw=-179.9deg	[env.py: 1019]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94714801  1.03460657  0.05366126] yaw=-144.1deg	[env.py: 1019]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms	[env.py: 1075]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.335, 0.054)	[env.py: 1079]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
-05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:09:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:09:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:09:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:09:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 95.190[deg]	[grasp_sample.py: 539]
-05/10 21:09:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:09:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:09:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:10:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:53 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 21:10:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:10:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:10:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:10:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:10:53 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:10:53 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.972[deg]	[grasp_sample.py: 539]
-05/10 21:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:10:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:10:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:10:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:11:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:11:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:11:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:11:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:11:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:11:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:11:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:11:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:11:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:11:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:11:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:11:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.62s (batch: 4.14s, save: 8.48s)	[pipeline.py: 300]
-05/10 21:11:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.07s:
-  episode_total: mean=193.66s, total=387.33s, count=2, min=184509.1ms, max=202820.0ms
-  sensor_polling: mean=519.5ms, total=308.61s, count=594, min=438.4ms, max=989.5ms
-  physics_step: mean=25.8ms, total=15.33s, count=594, min=15.8ms, max=102.6ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8482.7ms, max=8482.7ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.5ms, max=4138.5ms
-  task_sampling: mean=536.9ms, total=1.07s, count=2, min=451.3ms, max=622.4ms
-  task_specific_sample: mean=533.3ms, total=1.07s, count=2, min=447.3ms, max=619.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:11:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:11:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:11:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028374m	[env.py: 870]
-05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92859034  1.17465887  0.02837406] yaw=-135.7deg	[env.py: 1019]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88348697  1.00175933  0.02837406] yaw=-152.7deg	[env.py: 1019]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92005848  0.45639897  0.02837406] yaw=168.3deg	[env.py: 1019]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.0ms, total=141.0ms	[env.py: 1075]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.175, 0.028)	[env.py: 1079]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg	[env.py: 1082]
-05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:11:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:11:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:11:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:11:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:11:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:11:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 99.437[deg]	[grasp_sample.py: 539]
-05/10 21:11:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:11:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:11:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:12:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:12:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:12:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:12:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:12:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:12:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:12:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:12:27 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.397[deg]	[grasp_sample.py: 539]
-05/10 21:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:12:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:12:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:12:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:12:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:12:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:12:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:12:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:12:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:12:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.44s (batch: 4.18s, save: 9.26s)	[pipeline.py: 300]
-05/10 21:12:41 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.93s:
-  episode_total: mean=144.44s, total=722.19s, count=5, min=4921.5ms, max=209105.0ms
-  sensor_polling: mean=511.5ms, total=563.20s, count=1101, min=425.5ms, max=1050.4ms
-  physics_step: mean=25.0ms, total=27.53s, count=1101, min=15.2ms, max=101.5ms
-  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.7ms, max=9263.7ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.4ms, max=4180.4ms
-  task_sampling: mean=586.8ms, total=2.93s, count=5, min=505.4ms, max=759.0ms
-  task_specific_sample: mean=583.0ms, total=2.92s, count=5, min=500.7ms, max=755.5ms
-  scene_randomize: mean=1.7ms, total=8.6ms, count=5, min=1.2ms, max=3.2ms
-  mj_forward_sync: mean=470.8us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:12:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:12:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:12:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060916m	[env.py: 870]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67948828  0.25735025  0.06091564] yaw=168.2deg	[env.py: 1019]
-05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79575485  0.82903226  0.06091564] yaw=-150.2deg	[env.py: 1019]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.5ms, total=418.5ms	[env.py: 1075]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.257, 0.061)	[env.py: 1079]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
-05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
-05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:12:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:12:44 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:12:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:12:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:12:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:12:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:12:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:12:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 95.886[deg]	[grasp_sample.py: 539]
-05/10 21:12:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:12:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:12:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:12:48 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:12:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:12:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:12:49 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:13:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:13:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.98s (batch: 5.40s, save: 9.58s)	[pipeline.py: 300]
-05/10 21:13:03 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
-  episode_total: mean=182.28s, total=364.57s, count=2, min=161375.7ms, max=203194.1ms
-  sensor_polling: mean=511.6ms, total=283.41s, count=554, min=427.9ms, max=1191.0ms
-  physics_step: mean=25.1ms, total=13.89s, count=554, min=15.1ms, max=112.2ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.4ms, max=9577.4ms
-  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5403.2ms, max=5403.2ms
-  task_sampling: mean=463.1ms, total=926.2ms, count=2, min=400.0ms, max=526.2ms
-  task_specific_sample: mean=459.2ms, total=918.5ms, count=2, min=396.4ms, max=522.0ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.8ms
-  mj_forward_sync: mean=504.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:13:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:13:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:13:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018486m	[env.py: 870]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00915683  0.95196939  0.01848562] yaw=-143.0deg	[env.py: 1019]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7464437   0.09366935  0.01848562] yaw=153.8deg	[env.py: 1019]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80733136  0.26203661  0.01848562] yaw=162.1deg	[env.py: 1019]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.952, 0.018)	[env.py: 1079]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg	[env.py: 1082]
-05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:13:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:13:05 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:13:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:13:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 98.355[deg]	[grasp_sample.py: 539]
-05/10 21:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:13:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:13:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:13:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:13:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:13:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:13:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:13:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:13:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.06s (batch: 4.38s, save: 11.68s)	[pipeline.py: 300]
-05/10 21:13:29 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.3ms, max=223738.3ms
-  sensor_polling: mean=524.2ms, total=157.27s, count=300, min=434.9ms, max=939.9ms
-  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11679.5ms, max=11679.5ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=15.8ms, max=115.3ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.1ms, max=4384.1ms
-  task_sampling: mean=430.1ms, total=430.1ms, count=1, min=430.1ms, max=430.1ms
-  task_specific_sample: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=588.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:13:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:13:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:13:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:13:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:13:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:13:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:13:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003857m	[env.py: 870]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:13:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73056655  0.94092386  0.00385735] yaw=-147.3deg	[env.py: 1019]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms	[env.py: 1075]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.941, 0.004)	[env.py: 1079]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:13:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:13:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:13:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:13:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:13:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 86.943[deg]	[grasp_sample.py: 539]
-05/10 21:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:14:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:14:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:14:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:14:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:14:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:14:19 INFO: [Worker 0] Feasibility-checked 70 grasps in 1.740s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 21:14:19 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 21:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:14:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:14:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062896m	[env.py: 870]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99998044  0.84898364  0.06289584] yaw=-161.7deg	[env.py: 1019]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0402408   1.10424358  0.06289584] yaw=-147.9deg	[env.py: 1019]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms	[env.py: 1075]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.849, 0.063)	[env.py: 1079]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
-05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:14:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:14:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:14:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:14:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:14:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 88.355[deg]	[grasp_sample.py: 539]
-05/10 21:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:14:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:14:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:14:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:14:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:15:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:15:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:15:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:15:33 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:15:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:16:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:16:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:16:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:16:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:16:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:16:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.34s (batch: 5.08s, save: 10.26s)	[pipeline.py: 300]
-05/10 21:16:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.78s:
-  episode_total: mean=212.63s, total=212.63s, count=1, min=212633.3ms, max=212633.3ms
-  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=432.4ms, max=909.4ms
-  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10259.0ms, max=10259.0ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.5ms, max=88.0ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5082.9ms, max=5082.9ms
-  task_sampling: mean=780.7ms, total=780.7ms, count=1, min=780.7ms, max=780.7ms
-  task_specific_sample: mean=776.0ms, total=776.0ms, count=1, min=776.0ms, max=776.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=526.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:16:17 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:16:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:16:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004860m	[env.py: 870]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6516722   0.61759956  0.00485972] yaw=-175.2deg	[env.py: 1019]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9080335   0.13515699  0.00485972] yaw=156.3deg	[env.py: 1019]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81337929  0.13549459  0.00485972] yaw=154.8deg	[env.py: 1019]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.618, 0.005)	[env.py: 1079]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
-05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:16:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:16:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:16:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:16:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:16:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:16:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:16:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.615[m] 89.708[deg]	[grasp_sample.py: 539]
-05/10 21:16:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:16:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:16:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:16:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:16:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:16:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:16:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:16:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:16:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.71s (batch: 4.34s, save: 10.38s)	[pipeline.py: 300]
-05/10 21:16:36 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
-  episode_total: mean=211.15s, total=211.15s, count=1, min=211145.4ms, max=211145.4ms
-  sensor_polling: mean=514.6ms, total=154.37s, count=300, min=439.6ms, max=873.6ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10376.1ms, max=10376.1ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=14.7ms, max=82.9ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.7ms, max=4336.7ms
-  task_sampling: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=422.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:16:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:16:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:16:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:16:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:16:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098945m	[env.py: 870]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:16:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94107954  1.27495925  0.09894454] yaw=-142.2deg	[env.py: 1019]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610995  0.94020502  0.09894454] yaw=-156.4deg	[env.py: 1019]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01253029  0.90722948  0.09894454] yaw=-146.3deg	[env.py: 1019]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=421.1ms, total=421.2ms	[env.py: 1075]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.275, 0.099)	[env.py: 1079]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
-05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:16:39 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:16:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:16:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:16:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:16:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:16:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.006s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 21:16:42 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 21:16:43 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:16:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:16:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:16:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:16:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:16:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:16:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:16:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:16:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099381m	[env.py: 870]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:16:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96739824  0.821801    0.09938121] yaw=-154.2deg	[env.py: 1019]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82488118  0.4547541   0.09938121] yaw=179.0deg	[env.py: 1019]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08665308  1.05510919  0.09938121] yaw=-140.0deg	[env.py: 1019]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.822, 0.099)	[env.py: 1079]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
-05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:16:44 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:16:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:16:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:16:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:16:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:16:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:16:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 85.056[deg]	[grasp_sample.py: 539]
-05/10 21:16:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:16:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:16:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:16:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:16:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:16:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.84s (batch: 4.33s, save: 8.50s)	[pipeline.py: 300]
-05/10 21:16:56 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=204.80s, total=204.80s, count=1, min=204796.6ms, max=204796.6ms
-  sensor_polling: mean=506.9ms, total=152.07s, count=300, min=437.6ms, max=856.8ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8504.7ms, max=8504.7ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=14.8ms, max=83.6ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.9ms, max=4331.9ms
-  task_sampling: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
-  task_specific_sample: mean=509.8ms, total=509.8ms, count=1, min=509.8ms, max=509.8ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=582.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:16:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:16:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:16:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065755m	[env.py: 870]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6911446   0.43817937  0.0657553 ] yaw=169.1deg	[env.py: 1019]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97721703  1.07370394  0.0657553 ] yaw=-147.6deg	[env.py: 1019]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:16:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms	[env.py: 1075]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.438, 0.066)	[env.py: 1079]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
-05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:16:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:16:58 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:16:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:16:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:16:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:16:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:16:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:16:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.566[m] 91.174[deg]	[grasp_sample.py: 539]
-05/10 21:16:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:17:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:17:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:17:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:17:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:17:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:17:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:17:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:17:31 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 21:17:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:17:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:17:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:17:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.70s (batch: 4.69s, save: 11.01s)	[pipeline.py: 300]
-05/10 21:17:48 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.87s:
-  episode_total: mean=183.62s, total=367.25s, count=2, min=161002.4ms, max=206245.9ms
-  sensor_polling: mean=508.0ms, total=287.53s, count=566, min=433.3ms, max=1026.0ms
-  physics_step: mean=24.9ms, total=14.10s, count=566, min=16.6ms, max=110.2ms
-  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11014.1ms, max=11014.1ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.2ms, max=4688.2ms
-  task_sampling: mean=436.1ms, total=872.2ms, count=2, min=432.8ms, max=439.4ms
-  task_specific_sample: mean=432.2ms, total=864.4ms, count=2, min=428.9ms, max=435.5ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
-  mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:17:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:17:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:17:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:17:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:17:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085704m	[env.py: 870]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:17:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80090426  0.54350799  0.08570396] yaw=-167.8deg	[env.py: 1019]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06586549  1.13886498  0.08570396] yaw=-134.7deg	[env.py: 1019]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88294011  1.1718493   0.08570396] yaw=-144.3deg	[env.py: 1019]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:17:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms	[env.py: 1075]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.544, 0.086)	[env.py: 1079]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
-05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:17:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:17:50 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:17:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:17:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 83.621[deg]	[grasp_sample.py: 539]
-05/10 21:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:17:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:17:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:18:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:18:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:18:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:18:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:19:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:19:31 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:19:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:19:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:19:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:19:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:19:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:19:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:19:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.72s (batch: 4.49s, save: 9.23s)	[pipeline.py: 300]
-05/10 21:19:46 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
-  episode_total: mean=208.41s, total=208.41s, count=1, min=208406.6ms, max=208406.6ms
-  sensor_polling: mean=513.7ms, total=154.12s, count=300, min=442.3ms, max=860.1ms
-  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9230.4ms, max=9230.4ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.5ms, max=129.1ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.5ms, max=4488.5ms
-  task_sampling: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
-  task_specific_sample: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:19:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:19:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:19:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:19:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:19:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:19:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:19:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009104m	[env.py: 870]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:19:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92855029  0.9363339   0.00910388] yaw=-153.7deg	[env.py: 1019]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70900772  0.67431249  0.00910388] yaw=-170.3deg	[env.py: 1019]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms	[env.py: 1075]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.936, 0.009)	[env.py: 1079]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg	[env.py: 1082]
-05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:19:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:19:48 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:19:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:19:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:19:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:19:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:19:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:19:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 91.675[deg]	[grasp_sample.py: 539]
-05/10 21:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:19:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:19:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:20:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:20:00 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 21:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:20:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:20:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:20:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:20:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.20s (batch: 4.92s, save: 9.28s)	[pipeline.py: 300]
-05/10 21:20:14 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
-  episode_total: mean=107.27s, total=214.55s, count=2, min=3958.6ms, max=210587.9ms
-  sensor_polling: mean=527.8ms, total=154.13s, count=292, min=437.2ms, max=1281.9ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9276.1ms, max=9276.1ms
-  physics_step: mean=26.1ms, total=7.63s, count=292, min=15.8ms, max=126.1ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4921.1ms, max=4921.1ms
-  task_sampling: mean=606.5ms, total=1.21s, count=2, min=450.0ms, max=762.9ms
-  task_specific_sample: mean=601.5ms, total=1.20s, count=2, min=444.6ms, max=758.3ms
-  scene_randomize: mean=2.9ms, total=5.9ms, count=2, min=2.7ms, max=3.2ms
-  mj_forward_sync: mean=874.0us, total=1.7ms, count=2, min=0.6ms, max=1.2ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:20:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:20:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:20:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:20:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:20:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028885m	[env.py: 870]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67935582  0.47566532  0.0288846 ] yaw=185.4deg	[env.py: 1019]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77584687  0.14391026  0.0288846 ] yaw=161.3deg	[env.py: 1019]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95801537  0.70958971  0.0288846 ] yaw=-163.3deg	[env.py: 1019]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms	[env.py: 1075]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.476, 0.029)	[env.py: 1079]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
-05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:20:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:20:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:20:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:20:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:20:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:20:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:20:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.759[deg]	[grasp_sample.py: 539]
-05/10 21:20:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:20:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:20:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:20:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:20:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:20:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.155[deg]	[grasp_sample.py: 539]
-05/10 21:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:20:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.37s, save: 9.14s)	[pipeline.py: 300]
-05/10 21:20:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.89s, total=207.89s, count=1, min=207891.6ms, max=207891.6ms
-  sensor_polling: mean=514.3ms, total=154.29s, count=300, min=442.7ms, max=1090.4ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.4ms, max=9142.4ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.5ms, max=74.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.7ms, max=4366.7ms
-  task_sampling: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
-  task_specific_sample: mean=468.3ms, total=468.3ms, count=1, min=468.3ms, max=468.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:20:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:20:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:20:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:20:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:20:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:20:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004559m	[env.py: 870]
-05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:20:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99042119  0.14648002  0.00455889] yaw=166.1deg	[env.py: 1019]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88709121  0.41426274  0.00455889] yaw=185.2deg	[env.py: 1019]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92005349  0.78006857  0.00455889] yaw=-162.4deg	[env.py: 1019]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:20:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=562.0ms, total=562.0ms	[env.py: 1075]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.146, 0.005)	[env.py: 1079]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
-05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:20:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:20:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:20:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:20:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:20:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 96.458[deg]	[grasp_sample.py: 539]
-05/10 21:20:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:20:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:20:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:20:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:20:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:21:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:21:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 21:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:21:07 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:21:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.122[m] 3.023[deg]	[grasp_sample.py: 539]
-05/10 21:21:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:21:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:21:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:14 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 21:21:14 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.41s:
-  episode_total: mean=204.80s, total=204.80s, count=1, min=204803.2ms, max=204803.2ms
-  sensor_polling: mean=521.2ms, total=156.36s, count=300, min=444.9ms, max=1178.7ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.5ms, max=92.6ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=411.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:21:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:21:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:21:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:21:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:21:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:21:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:21:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084384m	[env.py: 870]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:21:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15947316  1.0270769   0.08438421] yaw=-123.6deg	[env.py: 1019]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03280565  0.96791015  0.08438421] yaw=-148.3deg	[env.py: 1019]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566816  0.8953798   0.08438421] yaw=-153.7deg	[env.py: 1019]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:21:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.5ms	[env.py: 1075]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.027, 0.084)	[env.py: 1079]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.6 deg	[env.py: 1082]
-05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:21:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:21:16 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:21:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:21:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:21:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 85.174[deg]	[grasp_sample.py: 539]
-05/10 21:21:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:21:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:21:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:21:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:21:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:21:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:22:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:22:39 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:22:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:22:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:22:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:22:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:22:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:22:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:22:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.233[deg]	[grasp_sample.py: 539]
-05/10 21:22:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:22:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:22:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:23:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:23:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:23:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:23:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.47s (batch: 4.75s, save: 11.73s)	[pipeline.py: 300]
-05/10 21:23:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.74s:
-  episode_total: mean=211.83s, total=211.83s, count=1, min=211830.8ms, max=211830.8ms
-  sensor_polling: mean=527.4ms, total=158.23s, count=300, min=441.6ms, max=1366.6ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11727.2ms, max=11727.2ms
-  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=94.4ms
-  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.6ms, max=4745.6ms
-  task_sampling: mean=736.9ms, total=736.9ms, count=1, min=736.9ms, max=736.9ms
-  task_specific_sample: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=655.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:23:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:23:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:23:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:23:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:23:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:23:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:23:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006979m	[env.py: 870]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:23:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69075632  0.47638615  0.00697917] yaw=168.8deg	[env.py: 1019]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.158266    1.11917447  0.00697917] yaw=-130.4deg	[env.py: 1019]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8029846   0.49049159  0.00697917] yaw=-182.1deg	[env.py: 1019]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:23:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.9ms, total=81.9ms	[env.py: 1075]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.476, 0.007)	[env.py: 1079]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
-05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:23:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:23:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:23:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:23:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:23:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:23:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:23:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 88.105[deg]	[grasp_sample.py: 539]
-05/10 21:23:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:23:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:23:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:23:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:23:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:23:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:23:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:23:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.232s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:23:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.977[deg]	[grasp_sample.py: 539]
-05/10 21:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:23:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:23:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:23:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:23:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:23:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:23:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:24:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.781s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:24:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.351[deg]	[grasp_sample.py: 539]
-05/10 21:24:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:24:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:24:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 4.75s, save: 8.61s)	[pipeline.py: 300]
-05/10 21:24:02 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:24:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=226.89s, total=226.89s, count=1, min=226887.5ms, max=226887.5ms
-  sensor_polling: mean=536.1ms, total=160.82s, count=300, min=460.2ms, max=865.8ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.8ms, max=8614.8ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.3ms, max=83.6ms
-  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.6ms, max=4747.6ms
-  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  task_specific_sample: mean=400.6ms, total=400.6ms, count=1, min=400.6ms, max=400.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=419.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:24:04 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:24:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:24:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075062m	[env.py: 870]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8577659   1.09722795  0.07506166] yaw=-133.8deg	[env.py: 1019]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.0ms	[env.py: 1075]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.097, 0.075)	[env.py: 1079]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
-05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:24:05 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:24:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:24:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:24:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:24:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:24:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:24:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016479m	[env.py: 870]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:24:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82856008  1.03574903  0.016479  ] yaw=-150.7deg	[env.py: 1019]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02363036  1.31224936  0.016479  ] yaw=-139.2deg	[env.py: 1019]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90614888  0.41199153  0.016479  ] yaw=171.4deg	[env.py: 1019]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:24:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.6ms, total=87.6ms	[env.py: 1075]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 1.036, 0.016)	[env.py: 1079]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
-05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:24:05 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:24:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:24:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.644[m] 98.074[deg]	[grasp_sample.py: 539]
-05/10 21:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:24:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:24:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:24:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.785s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:24:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 80.845[deg]	[grasp_sample.py: 539]
-05/10 21:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:24:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:24:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:24:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:24:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:24:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:24:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:24:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:24:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:24:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:24:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.58s (batch: 4.11s, save: 8.47s)	[pipeline.py: 300]
-05/10 21:24:41 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.92s:
-  episode_total: mean=252.54s, total=252.54s, count=1, min=252544.9ms, max=252544.9ms
-  sensor_polling: mean=544.9ms, total=163.46s, count=300, min=465.5ms, max=933.8ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.1ms, max=8466.1ms
-  physics_step: mean=25.0ms, total=7.51s, count=300, min=14.1ms, max=117.0ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.7ms, max=4109.7ms
-  task_sampling: mean=920.1ms, total=920.1ms, count=1, min=920.1ms, max=920.1ms
-  task_specific_sample: mean=915.3ms, total=915.3ms, count=1, min=915.3ms, max=915.3ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=627.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:24:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:24:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:24:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:24:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:24:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:24:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033862m	[env.py: 870]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:24:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82227541  0.0145964   0.03386198] yaw=142.1deg	[env.py: 1019]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02370475  0.15953073  0.03386198] yaw=164.7deg	[env.py: 1019]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9268626   0.21723471  0.03386198] yaw=171.1deg	[env.py: 1019]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:24:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.015, 0.034)	[env.py: 1079]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg	[env.py: 1082]
-05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:24:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:24:43 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:24:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:24:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:24:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:24:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:24:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:24:45 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.558[m] 88.230[deg]	[grasp_sample.py: 539]
-05/10 21:24:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:24:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:24:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:25:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:25:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:25:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:26:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:26:11 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:26:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:26:51 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:26:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:26:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.92s (batch: 4.37s, save: 8.55s)	[pipeline.py: 300]
-05/10 21:26:53 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
-  episode_total: mean=211.31s, total=211.31s, count=1, min=211305.8ms, max=211305.8ms
-  sensor_polling: mean=523.0ms, total=156.91s, count=300, min=445.6ms, max=1065.9ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.9ms, max=8549.9ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=17.9ms, max=101.7ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.9ms, max=4373.9ms
-  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
-  task_specific_sample: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:26:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:26:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:26:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:26:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080919m	[env.py: 870]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7810963   0.5303907   0.08091874] yaw=-172.9deg	[env.py: 1019]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14179506  1.13817652  0.08091874] yaw=-126.0deg	[env.py: 1019]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96038461  0.34688931  0.08091874] yaw=163.4deg	[env.py: 1019]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.1ms	[env.py: 1075]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.530, 0.081)	[env.py: 1079]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
-05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
-05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:26:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:26:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:26:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 92.851[deg]	[grasp_sample.py: 539]
-05/10 21:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:26:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:26:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:27:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:27:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:27:22 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:27:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:27:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:27:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:27:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:27:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.40s (batch: 4.42s, save: 8.99s)	[pipeline.py: 300]
-05/10 21:27:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.96s:
-  episode_total: mean=188.01s, total=376.01s, count=2, min=166513.4ms, max=209497.4ms
-  sensor_polling: mean=516.7ms, total=293.98s, count=569, min=427.4ms, max=1005.5ms
-  physics_step: mean=25.1ms, total=14.26s, count=569, min=16.1ms, max=121.8ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.1ms, max=8988.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4415.3ms, max=4415.3ms
-  task_sampling: mean=477.8ms, total=955.7ms, count=2, min=425.4ms, max=530.2ms
-  task_specific_sample: mean=474.4ms, total=948.8ms, count=2, min=422.2ms, max=526.5ms
-  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=414.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:27:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:27:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:27:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058430m	[env.py: 870]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1735197   1.05309213  0.05843003] yaw=-130.2deg	[env.py: 1019]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89298718  1.01973276  0.05843003] yaw=-151.6deg	[env.py: 1019]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms	[env.py: 1075]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.053, 0.058)	[env.py: 1079]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
-05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:27:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:27:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:27:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.68s (batch: 4.50s, save: 10.18s)	[pipeline.py: 300]
-05/10 21:27:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:27:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:27:36 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:27:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:27:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:27:37 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
-  episode_total: mean=212.32s, total=212.32s, count=1, min=212317.9ms, max=212317.9ms
-  sensor_polling: mean=518.2ms, total=155.47s, count=300, min=435.1ms, max=973.2ms
-  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10178.2ms, max=10178.2ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.6ms, max=106.6ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.0ms, max=4497.0ms
-  task_sampling: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
-  task_specific_sample: mean=410.4ms, total=410.4ms, count=1, min=410.4ms, max=410.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=445.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 96.189[deg]	[grasp_sample.py: 539]
-05/10 21:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:27:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:27:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:27:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:27:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:27:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:27:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:27:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040113m	[env.py: 870]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:27:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96670327  0.93723545  0.04011328] yaw=-158.9deg	[env.py: 1019]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90440846  0.09259245  0.04011328] yaw=143.5deg	[env.py: 1019]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7936102   0.04918783  0.04011328] yaw=146.2deg	[env.py: 1019]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:27:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.4ms	[env.py: 1075]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.937, 0.040)	[env.py: 1079]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:27:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:27:39 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:27:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:27:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:27:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:27:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.297[deg]	[grasp_sample.py: 539]
-05/10 21:27:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:27:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:27:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:27:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:27:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:27:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:27:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:28:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:28:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:28:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:28:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:28:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.73s (batch: 4.08s, save: 8.65s)	[pipeline.py: 300]
-05/10 21:28:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
-  episode_total: mean=208.57s, total=208.57s, count=1, min=208566.2ms, max=208566.2ms
-  sensor_polling: mean=532.7ms, total=159.81s, count=300, min=454.9ms, max=1153.9ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=16.2ms, max=106.5ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4080.2ms, max=4080.2ms
-  task_sampling: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms
-  task_specific_sample: mean=481.6ms, total=481.6ms, count=1, min=481.6ms, max=481.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:28:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:28:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:28:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:28:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:28:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:28:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:28:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005746m	[env.py: 870]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:28:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84897735  1.0608889   0.00574605] yaw=-134.6deg	[env.py: 1019]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95961722  0.64166377  0.00574605] yaw=-162.0deg	[env.py: 1019]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01551301  0.96174227  0.00574605] yaw=-138.0deg	[env.py: 1019]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:28:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.4ms	[env.py: 1075]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.061, 0.006)	[env.py: 1079]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg	[env.py: 1082]
-05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:28:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:28:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:28:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:28:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.888s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:28:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.603[m] 90.810[deg]	[grasp_sample.py: 539]
-05/10 21:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:28:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:28:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:28:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:28:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:28:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:28:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:28:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:29:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:29:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:29:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:29:51 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:30:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:30:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:30:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:30:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:30:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.183s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:30:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.817s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:30:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]	[grasp_sample.py: 539]
-05/10 21:30:25 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:30:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:30:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:30:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:30:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046440m	[env.py: 870]
-05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02673665  1.28532242  0.04644041] yaw=-131.3deg	[env.py: 1019]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85446516  0.88461746  0.04644041] yaw=-154.0deg	[env.py: 1019]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94417356  0.4660807   0.04644041] yaw=176.7deg	[env.py: 1019]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:30:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms	[env.py: 1075]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 1.285, 0.046)	[env.py: 1079]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg	[env.py: 1082]
-05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:30:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:30:28 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:30:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:30:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:30:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:30:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:30:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:30:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:30:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.16s (batch: 5.20s, save: 10.96s)	[pipeline.py: 300]
-05/10 21:30:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.46s:
-  episode_total: mean=217.97s, total=217.97s, count=1, min=217965.1ms, max=217965.1ms
-  sensor_polling: mean=532.1ms, total=159.62s, count=300, min=448.8ms, max=919.9ms
-  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10963.8ms, max=10963.8ms
-  physics_step: mean=27.8ms, total=8.35s, count=300, min=17.9ms, max=105.7ms
-  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5198.1ms, max=5198.1ms
-  task_sampling: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
-  task_specific_sample: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=423.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:30:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.190s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:30:32 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
-05/10 21:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:30:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:30:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030636m	[env.py: 870]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:30:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:30:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038485m	[env.py: 870]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81004362  0.2285971   0.0306361 ] yaw=174.9deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8687516  0.3844181  0.0306361] yaw=176.9deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78449667  0.8780896   0.0306361 ] yaw=-156.3deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.8ms	[env.py: 1075]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.229, 0.031)	[env.py: 1079]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96042765  1.03971419  0.03848463] yaw=-152.7deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00166828  1.14633781  0.03848463] yaw=-127.7deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64956227  0.33866036  0.03848463] yaw=183.0deg	[env.py: 1019]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=438.8ms, total=438.8ms	[env.py: 1075]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 1.040, 0.038)	[env.py: 1079]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
-05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:30:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:30:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:30:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:30:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:30:35 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:30:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:30:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:30:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 95.872[deg]	[grasp_sample.py: 539]
-05/10 21:30:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:30:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:30:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:30:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.301s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:30:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.507[m] 90.265[deg]	[grasp_sample.py: 539]
-05/10 21:30:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:30:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:30:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:30:52 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:30:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:30:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:31:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:31:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:31:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 5.07s, save: 8.50s)	[pipeline.py: 300]
-05/10 21:31:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.46s:
-  episode_total: mean=206.78s, total=206.78s, count=1, min=206777.6ms, max=206777.6ms
-  sensor_polling: mean=521.6ms, total=156.47s, count=300, min=440.9ms, max=947.0ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8496.9ms, max=8496.9ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.9ms, max=78.0ms
-  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5067.8ms, max=5067.8ms
-  task_sampling: mean=463.2ms, total=463.2ms, count=1, min=463.2ms, max=463.2ms
-  task_specific_sample: mean=456.1ms, total=456.1ms, count=1, min=456.1ms, max=456.1ms
-  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=693.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:31:07 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:31:07 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:31:07 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/10 21:31:07 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5644.10s
-  House averages:
-  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
-  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
-  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
-  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
-  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
-  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
-  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 21:31:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 21:31:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5644.10s
-  Worker averages:
-  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
-  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
-  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
-  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
-  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
-  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
-  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 21:31:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:31:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 21:31:10 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/10 21:31:10 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 21:31:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:31:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:31:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:31:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:31:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:31:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:31:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:31:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:31:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:31:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.01s (batch: 4.04s, save: 7.97s)	[pipeline.py: 300]
-05/10 21:31:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
-  episode_total: mean=208.25s, total=208.25s, count=1, min=208251.4ms, max=208251.4ms
-  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=447.4ms, max=1022.5ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.2ms, max=7970.2ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.2ms, max=92.2ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.6ms, max=4040.6ms
-  task_sampling: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
-  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:31:43 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:31:43 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:31:43 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/10 21:31:43 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5650.04s
-  House averages:
-  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
-  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
-  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
-  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
-  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
-  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 21:31:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 21:31:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5650.04s
-  Worker averages:
-  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
-  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
-  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
-  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
-  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
-  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 21:31:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:31:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:31:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 21:31:45 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/10 21:31:45 INFO: Success rate: 92.31%	[pipeline.py: 1492]
-05/10 21:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:33:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:33:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:33:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]	[grasp_sample.py: 539]
-05/10 21:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:33:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:33:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:33:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:33:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]	[grasp_sample.py: 539]
-05/10 21:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:33:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:33:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:33:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:33:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:33:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:33:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:33:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:33:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:33:53 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:33:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:33:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.18s (batch: 3.74s, save: 8.44s)	[pipeline.py: 300]
-05/10 21:33:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.86s:
-  episode_total: mean=125.61s, total=376.84s, count=3, min=4892.0ms, max=202260.0ms
-  sensor_polling: mean=503.3ms, total=286.38s, count=569, min=429.8ms, max=1206.2ms
-  physics_step: mean=24.5ms, total=13.93s, count=569, min=15.8ms, max=101.2ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.5ms, max=8439.5ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.9ms, max=3744.9ms
-  task_sampling: mean=618.5ms, total=1.86s, count=3, min=535.3ms, max=776.0ms
-  task_specific_sample: mean=614.4ms, total=1.84s, count=3, min=531.1ms, max=771.6ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.6ms, max=2.8ms
-  mj_forward_sync: mean=551.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:33:58 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:33:58 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:33:58 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
-05/10 21:33:58 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=5960.45s
-  House averages:
-  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
-  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
-  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
-  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
-  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
-  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
-  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 21:33:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 21:33:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5960.45s
-  Worker averages:
-  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
-  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
-  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
-  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
-  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
-  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
-  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 21:34:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 21:34:01 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
-05/10 21:34:01 INFO: Success rate: 90.00%	[pipeline.py: 1492]
-05/10 21:34:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:34:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:34:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.85s (batch: 4.08s, save: 9.77s)	[pipeline.py: 300]
-05/10 21:34:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
-  episode_total: mean=213.57s, total=213.57s, count=1, min=213573.2ms, max=213573.2ms
-  sensor_polling: mean=497.9ms, total=149.38s, count=300, min=438.9ms, max=928.9ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9770.7ms, max=9770.7ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=18.2ms, max=52.1ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.0ms, max=4082.0ms
-  task_sampling: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms
-  task_specific_sample: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:34:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:34:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:34:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:34:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:34:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:34:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:34:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062155m	[env.py: 870]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:34:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85319739  0.91691337  0.06215483] yaw=-152.3deg	[env.py: 1019]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79724583  0.91953941  0.06215483] yaw=-152.5deg	[env.py: 1019]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89177735  0.29904419  0.06215483] yaw=158.3deg	[env.py: 1019]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.2ms	[env.py: 1075]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.917, 0.062)	[env.py: 1079]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
-05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:34:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:34:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:34:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:34:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:34:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:34:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 86.134[deg]	[grasp_sample.py: 539]
-05/10 21:34:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:34:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:34:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:34:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:35:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:35:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:36:40 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:37:02 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
-05/10 21:37:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:37:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:37:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:37:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
-05/10 21:37:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 3.82s, save: 9.88s)	[pipeline.py: 300]
-05/10 21:37:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s:
-  episode_total: mean=187.16s, total=187.16s, count=1, min=187155.3ms, max=187155.3ms
-  sensor_polling: mean=464.3ms, total=139.29s, count=300, min=405.8ms, max=696.1ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9879.9ms, max=9879.9ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.4ms, max=77.8ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.8ms, max=3821.8ms
-  task_sampling: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
-  task_specific_sample: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:37:18 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:37:18 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
-05/10 21:37:18 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/10 21:37:18 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=6320.37s
-  House averages:
-  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
-  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
-  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
-  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
-  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
-  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
-  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 21:37:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 21:37:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=6320.37s
-  Worker averages:
-  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
-  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
-  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
-  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
-  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
-  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
-  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 21:37:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 21:37:20 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/10 21:37:20 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_008/shard_1_of_4.log b/fridge_7/chunk_008/shard_1_of_4.log
deleted file mode 100644
index e33bfd3e20be735871bf99777f32d56ddc751a6c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_008/shard_1_of_4.log
+++ /dev/null
@@ -1,1760 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
-  shard=1/4  seed=20801  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bb06d224a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20801,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 135997673669328 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135997673669328 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 135997673669328 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135997673669328 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 135997675584144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135997675584144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135997675584464 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135997675584464 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135997675584464 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135997675584464 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135997675584144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135997675584144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135997673708112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135997673708112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135997673713104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135997673713104 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 135997673713104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135997673713104 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135997673708112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135997673708112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 20:39:40 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6423f059be20 at 0x7bb06d798f50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6423f05c99c0 at 0x7bb06d58a410>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6423f05c99c0 at 0x7bb06d725f90>
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010633m
-[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64066221  0.3387437   0.01063263] yaw=173.5deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87704913  0.92342589  0.01063263] yaw=-148.1deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80678526  0.69997008  0.01063263] yaw=-165.4deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=23.5ms, retries=127.7ms, total=151.2ms
-[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.339, 0.011)
-[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 20:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.661s
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.589[m] 79.328[deg]
-[05/10 20:40:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:41:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:41:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:42:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 20:43:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 20:43:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:43:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 20:43:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.15s (batch: 4.21s, save: 8.94s)
-[05/10 20:43:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.12s:
-  episode_total: mean=232.70s, total=232.70s, count=1, min=232703.9ms, max=232703.9ms
-  sensor_polling: mean=517.3ms, total=155.18s, count=300, min=448.2ms, max=747.3ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.0ms, max=8940.0ms
-  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.4ms, max=73.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.0ms, max=4210.0ms
-  task_sampling: mean=3.12s, total=3.12s, count=1, min=3118.6ms, max=3118.6ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  task_specific_sample: mean=445.1ms, total=445.1ms, count=1, min=445.1ms, max=445.1ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=617.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:43:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:43:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 20:43:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:43:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:43:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067681m
-[05/10 20:43:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:43:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:43:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76127927  0.12845864  0.06768143] yaw=152.7deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17248088  1.07968041  0.06768143] yaw=-139.1deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:43:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:43:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
-[05/10 20:43:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.128, 0.068)
-[05/10 20:43:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:43:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 20:43:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 20:43:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:43:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:43:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:43:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True
-[05/10 20:43:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.591[m] 98.504[deg]
-[05/10 20:43:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:46:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:46:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:46:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 20:46:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:47:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:47:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:47:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.37s (batch: 4.38s, save: 10.99s)
-[05/10 20:47:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
-  episode_total: mean=210.65s, total=210.65s, count=1, min=210645.1ms, max=210645.1ms
-  sensor_polling: mean=518.2ms, total=155.46s, count=300, min=446.9ms, max=833.7ms
-  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10985.4ms, max=10985.4ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=15.3ms, max=72.9ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4380.5ms, max=4380.5ms
-  task_sampling: mean=466.5ms, total=466.5ms, count=1, min=466.5ms, max=466.5ms
-  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=422.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:47:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:47:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 20:47:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:47:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:47:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052877m
-[05/10 20:47:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:47:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:47:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84469801  1.10050357  0.05287708] yaw=-142.0deg
-[05/10 20:47:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13056681  1.19432385  0.05287708] yaw=-136.2deg
-[05/10 20:47:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:47:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:47:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.3ms, total=336.3ms
-[05/10 20:47:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 1.101, 0.053)
-[05/10 20:47:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg
-[05/10 20:47:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:47:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 20:47:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 20:47:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:47:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:47:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 20:47:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True
-[05/10 20:47:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 84.164[deg]
-[05/10 20:47:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:48:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:49:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:50:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:50:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:50:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps
-[05/10 20:50:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.695s, found feasible grasp: True
-[05/10 20:50:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.598[deg]
-[05/10 20:50:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:50:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:50:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:50:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:50:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:50:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:50:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:50:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:50:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 20:50:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:50:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:50:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003464m
-[05/10 20:50:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:50:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:50:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01364107  0.96161775  0.00346449] yaw=-135.9deg
-[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88882081  0.67914259  0.00346449] yaw=-164.8deg
-[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87545053  0.78924939  0.00346449] yaw=-168.7deg
-[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:50:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:50:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms
-[05/10 20:50:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.962, 0.003)
-[05/10 20:50:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
-[05/10 20:50:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.839m
-[05/10 20:50:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:50:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:50:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:50:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:50:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 20:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 20:50:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:50:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:50:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:50:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True
-[05/10 20:50:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.926[deg]
-[05/10 20:50:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:50:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:50:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:51:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:52:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:53:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:53:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 20:53:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps
-[05/10 20:53:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:53:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:53:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.00s (batch: 4.61s, save: 9.39s)
-[05/10 20:53:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.05s:
-  episode_total: mean=193.63s, total=387.25s, count=2, min=181731.5ms, max=205519.8ms
-  sensor_polling: mean=506.9ms, total=302.62s, count=597, min=434.0ms, max=848.4ms
-  physics_step: mean=24.9ms, total=14.89s, count=597, min=16.3ms, max=75.8ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9388.2ms, max=9388.2ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.7ms, max=4607.7ms
-  task_sampling: mean=525.9ms, total=1.05s, count=2, min=425.3ms, max=626.6ms
-  task_specific_sample: mean=522.3ms, total=1.04s, count=2, min=421.7ms, max=622.9ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
-  mj_forward_sync: mean=473.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:53:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:53:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:53:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 20:53:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:53:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:53:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011572m
-[05/10 20:53:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:53:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:53:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88252104  0.46742588  0.01157206] yaw=180.2deg
-[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87109017  0.94259276  0.01157206] yaw=-159.4deg
-[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83767209  0.4933306   0.01157206] yaw=-174.6deg
-[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:53:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:53:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms
-[05/10 20:53:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.467, 0.012)
-[05/10 20:53:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg
-[05/10 20:53:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:53:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:53:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:53:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 20:53:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 20:53:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:53:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:53:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 20:53:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True
-[05/10 20:53:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.353[m] 83.772[deg]
-[05/10 20:53:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:56:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:56:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:56:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 20:56:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps
-[05/10 20:56:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:56:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:56:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.55s (batch: 4.45s, save: 11.10s)
-[05/10 20:57:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.38s:
-  episode_total: mean=203.31s, total=203.31s, count=1, min=203308.6ms, max=203308.6ms
-  sensor_polling: mean=509.6ms, total=148.30s, count=291, min=440.6ms, max=879.7ms
-  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.5ms, max=11103.5ms
-  physics_step: mean=27.4ms, total=7.98s, count=291, min=18.5ms, max=90.9ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4450.5ms, max=4450.5ms
-  task_sampling: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
-  task_specific_sample: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=411.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:57:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:57:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:57:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 20:57:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:57:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:57:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014054m
-[05/10 20:57:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:57:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:57:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68662972  0.69979202  0.01405362] yaw=-157.5deg
-[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92172603  0.53419426  0.01405362] yaw=-167.7deg
-[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89096877  0.24415586  0.01405362] yaw=171.3deg
-[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:57:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:57:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.2ms
-[05/10 20:57:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.700, 0.014)
-[05/10 20:57:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg
-[05/10 20:57:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.039m
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:57:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:57:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 20:57:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:57:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:57:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
-[05/10 20:57:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.283s, found feasible grasp: True
-[05/10 20:57:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.647[m] 98.468[deg]
-[05/10 20:57:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:58:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:59:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:00:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:00:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:00:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:00:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:00:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:00:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 4.25s, save: 9.44s)
-[05/10 21:00:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=208.07s, total=208.07s, count=1, min=208071.2ms, max=208071.2ms
-  sensor_polling: mean=511.8ms, total=153.53s, count=300, min=442.5ms, max=761.9ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.4ms, max=9443.4ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=18.4ms, max=117.6ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4254.3ms, max=4254.3ms
-  task_sampling: mean=591.1ms, total=591.1ms, count=1, min=591.1ms, max=591.1ms
-  task_specific_sample: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=541.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:00:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:00:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:00:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 21:00:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:00:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:00:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004523m
-[05/10 21:00:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:00:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:00:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0550315   1.1760481   0.00452296] yaw=-138.3deg
-[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90822355  0.73349082  0.00452296] yaw=-155.7deg
-[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97950935  0.80663366  0.00452296] yaw=-164.8deg
-[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:00:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:00:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms
-[05/10 21:00:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.176, 0.005)
-[05/10 21:00:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg
-[05/10 21:00:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.949m
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:00:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:00:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 21:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 21:00:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:00:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:00:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:00:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.545s, found feasible grasp: True
-[05/10 21:00:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.502[m] 83.955[deg]
-[05/10 21:00:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:00:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:00:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:01:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:03:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:03:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:03:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:03:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 84 non-colliding grasps
-[05/10 21:03:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 1.712s, found feasible grasp: True
-[05/10 21:03:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 160 (originally 45): w/ 0.154[m] 1.185[deg]
-[05/10 21:03:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:03:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:03:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:03:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 21:03:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:03:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:03:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048756m
-[05/10 21:03:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:03:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:03:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07751986  1.20845387  0.04875569] yaw=-137.3deg
-[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94549433  0.83285474  0.04875569] yaw=-162.9deg
-[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83567939  0.55893469  0.04875569] yaw=-170.2deg
-[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:03:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:03:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.1ms, total=309.2ms
-[05/10 21:03:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.208, 0.049)
-[05/10 21:03:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
-[05/10 21:03:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.958m
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:03:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:03:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:03:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 21:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 21:03:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:03:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:03:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 21:03:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True
-[05/10 21:03:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 84.761[deg]
-[05/10 21:03:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:04:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:05:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:05:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:05:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:05:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps
-[05/10 21:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.615s, found feasible grasp: True
-[05/10 21:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.277[deg]
-[05/10 21:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:05:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:06:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:06:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:06:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:06:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps
-[05/10 21:06:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.805s, found feasible grasp: False
-[05/10 21:06:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 21:06:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:06:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:06:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/10 21:06:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:06:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:06:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046869m
-[05/10 21:06:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:06:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:06:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:06:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02601262  1.18533956  0.04686902] yaw=-143.7deg
-[05/10 21:06:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385857  1.09290373  0.04686902] yaw=-134.1deg
-[05/10 21:06:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:06:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:06:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.5ms
-[05/10 21:06:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.185, 0.047)
-[05/10 21:06:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg
-[05/10 21:06:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:06:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:06:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:06:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 21:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 21:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:06:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:06:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True
-[05/10 21:06:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.624[m] 81.721[deg]
-[05/10 21:06:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:09:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
-[05/10 21:09:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 3.677s, found feasible grasp: False
-[05/10 21:09:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 21:09:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:09:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 21:09:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:09:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:09:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097057m
-[05/10 21:09:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:09:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:09:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06497662  1.15717555  0.09705713] yaw=-127.2deg
-[05/10 21:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6871944   0.12511657  0.09705713] yaw=156.5deg
-[05/10 21:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:09:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:09:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=454.9ms, total=455.0ms
-[05/10 21:09:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.157, 0.097)
-[05/10 21:09:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg
-[05/10 21:09:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:09:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 21:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/10 21:09:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:09:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.997s, found feasible grasp: True
-[05/10 21:09:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.568[m] 92.164[deg]
-[05/10 21:09:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:09:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:09:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 21:09:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:09:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:09:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021254m
-[05/10 21:09:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:09:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:09:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84313615  0.95330353  0.02125394] yaw=-142.2deg
-[05/10 21:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02021785  1.06401111  0.02125394] yaw=-139.0deg
-[05/10 21:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:09:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:09:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms
-[05/10 21:09:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.953, 0.021)
-[05/10 21:09:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
-[05/10 21:09:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.980m
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:09:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 21:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 21:09:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:09:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.002s, found feasible grasp: True
-[05/10 21:09:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.572[m] 92.767[deg]
-[05/10 21:09:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:10:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:10:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 21:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:10:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:10:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:10:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 84 non-colliding grasps
-[05/10 21:10:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.486s, found feasible grasp: True
-[05/10 21:10:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.972[deg]
-[05/10 21:10:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:12:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:12:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:12:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:12:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:12:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:12:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:12:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.44s (batch: 4.18s, save: 9.26s)
-[05/10 21:12:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=2.93s:
-  episode_total: mean=144.44s, total=722.19s, count=5, min=4921.5ms, max=209105.0ms
-  sensor_polling: mean=511.5ms, total=563.20s, count=1101, min=425.5ms, max=1050.4ms
-  physics_step: mean=25.0ms, total=27.53s, count=1101, min=15.2ms, max=101.5ms
-  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.7ms, max=9263.7ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.4ms, max=4180.4ms
-  task_sampling: mean=586.8ms, total=2.93s, count=5, min=505.4ms, max=759.0ms
-  task_specific_sample: mean=583.0ms, total=2.92s, count=5, min=500.7ms, max=755.5ms
-  scene_randomize: mean=1.7ms, total=8.6ms, count=5, min=1.2ms, max=3.2ms
-  mj_forward_sync: mean=470.8us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/10 21:12:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:12:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:12:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:12:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:12:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:12:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:12:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 21:12:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:12:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:12:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060916m
-[05/10 21:12:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:12:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:12:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:12:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67948828  0.25735025  0.06091564] yaw=168.2deg
-[05/10 21:12:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:12:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79575485  0.82903226  0.06091564] yaw=-150.2deg
-[05/10 21:12:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:12:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:12:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.5ms, total=418.5ms
-[05/10 21:12:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.257, 0.061)
-[05/10 21:12:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg
-[05/10 21:12:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.047m
-[05/10 21:12:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:12:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:12:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:12:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:12:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:12:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 21:12:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
-[05/10 21:12:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:12:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:12:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 21:12:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.672s, found feasible grasp: True
-[05/10 21:12:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.638[m] 95.886[deg]
-[05/10 21:12:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:14:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:15:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:16:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:16:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:16:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:16:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.34s (batch: 5.08s, save: 10.26s)
-[05/10 21:16:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.78s:
-  episode_total: mean=212.63s, total=212.63s, count=1, min=212633.3ms, max=212633.3ms
-  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=432.4ms, max=909.4ms
-  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10259.0ms, max=10259.0ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.5ms, max=88.0ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5082.9ms, max=5082.9ms
-  task_sampling: mean=780.7ms, total=780.7ms, count=1, min=780.7ms, max=780.7ms
-  task_specific_sample: mean=776.0ms, total=776.0ms, count=1, min=776.0ms, max=776.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=526.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:16:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:16:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 21:16:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:16:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:16:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004860m
-[05/10 21:16:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:16:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:16:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:16:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6516722   0.61759956  0.00485972] yaw=-175.2deg
-[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9080335   0.13515699  0.00485972] yaw=156.3deg
-[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81337929  0.13549459  0.00485972] yaw=154.8deg
-[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:16:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:16:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms
-[05/10 21:16:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.618, 0.005)
-[05/10 21:16:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg
-[05/10 21:16:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:16:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 21:16:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 21:16:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:16:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:16:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 21:16:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True
-[05/10 21:16:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.615[m] 89.708[deg]
-[05/10 21:16:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:16:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:16:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:17:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:19:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:19:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:19:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:19:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:19:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:19:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:19:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.72s (batch: 4.49s, save: 9.23s)
-[05/10 21:19:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
-  episode_total: mean=208.41s, total=208.41s, count=1, min=208406.6ms, max=208406.6ms
-  sensor_polling: mean=513.7ms, total=154.12s, count=300, min=442.3ms, max=860.1ms
-  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9230.4ms, max=9230.4ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.5ms, max=129.1ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.5ms, max=4488.5ms
-  task_sampling: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
-  task_specific_sample: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:19:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:19:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:19:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 21:19:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:19:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:19:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009104m
-[05/10 21:19:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:19:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:19:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:19:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92855029  0.9363339   0.00910388] yaw=-153.7deg
-[05/10 21:19:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:19:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70900772  0.67431249  0.00910388] yaw=-170.3deg
-[05/10 21:19:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:19:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:19:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms
-[05/10 21:19:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.936, 0.009)
-[05/10 21:19:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg
-[05/10 21:19:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:19:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:19:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:19:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 21:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 21:19:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:19:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:19:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:19:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True
-[05/10 21:19:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 91.675[deg]
-[05/10 21:19:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:22:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:23:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:23:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:23:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:23:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:23:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:23:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.47s (batch: 4.75s, save: 11.73s)
-[05/10 21:23:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.74s:
-  episode_total: mean=211.83s, total=211.83s, count=1, min=211830.8ms, max=211830.8ms
-  sensor_polling: mean=527.4ms, total=158.23s, count=300, min=441.6ms, max=1366.6ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11727.2ms, max=11727.2ms
-  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=94.4ms
-  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.6ms, max=4745.6ms
-  task_sampling: mean=736.9ms, total=736.9ms, count=1, min=736.9ms, max=736.9ms
-  task_specific_sample: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=655.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:23:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:23:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:23:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 21:23:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:23:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:23:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006979m
-[05/10 21:23:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:23:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:23:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69075632  0.47638615  0.00697917] yaw=168.8deg
-[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.158266    1.11917447  0.00697917] yaw=-130.4deg
-[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8029846   0.49049159  0.00697917] yaw=-182.1deg
-[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:23:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:23:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.9ms, total=81.9ms
-[05/10 21:23:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.476, 0.007)
-[05/10 21:23:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg
-[05/10 21:23:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:23:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:23:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:23:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 21:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:23:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:23:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:23:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:23:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True
-[05/10 21:23:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.565[m] 88.105[deg]
-[05/10 21:23:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:24:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:26:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:26:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:26:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:26:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.92s (batch: 4.37s, save: 8.55s)
-[05/10 21:26:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
-  episode_total: mean=211.31s, total=211.31s, count=1, min=211305.8ms, max=211305.8ms
-  sensor_polling: mean=523.0ms, total=156.91s, count=300, min=445.6ms, max=1065.9ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.9ms, max=8549.9ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=17.9ms, max=101.7ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.9ms, max=4373.9ms
-  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
-  task_specific_sample: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:26:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:26:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:26:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:26:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:26:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:26:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:26:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/10 21:26:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:26:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:26:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080919m
-[05/10 21:26:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:26:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:26:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7810963   0.5303907   0.08091874] yaw=-172.9deg
-[05/10 21:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14179506  1.13817652  0.08091874] yaw=-126.0deg
-[05/10 21:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:26:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96038461  0.34688931  0.08091874] yaw=163.4deg
-[05/10 21:26:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:26:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:26:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.1ms
-[05/10 21:26:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.530, 0.081)
-[05/10 21:26:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg
-[05/10 21:26:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m
-[05/10 21:26:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:26:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:26:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:26:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:26:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:26:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 21:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
-[05/10 21:26:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:26:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:26:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 21:26:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 21:26:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.484[m] 92.851[deg]
-[05/10 21:26:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:29:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:30:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:30:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:30:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:30:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:30:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:30:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.16s (batch: 5.20s, save: 10.96s)
-[05/10 21:30:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.46s:
-  episode_total: mean=217.97s, total=217.97s, count=1, min=217965.1ms, max=217965.1ms
-  sensor_polling: mean=532.1ms, total=159.62s, count=300, min=448.8ms, max=919.9ms
-  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10963.8ms, max=10963.8ms
-  physics_step: mean=27.8ms, total=8.35s, count=300, min=17.9ms, max=105.7ms
-  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5198.1ms, max=5198.1ms
-  task_sampling: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
-  task_specific_sample: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=423.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:30:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:30:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 21:30:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:30:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:30:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030636m
-[05/10 21:30:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:30:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:30:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81004362  0.2285971   0.0306361 ] yaw=174.9deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8687516  0.3844181  0.0306361] yaw=176.9deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78449667  0.8780896   0.0306361 ] yaw=-156.3deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:30:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:30:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.8ms
-[05/10 21:30:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.229, 0.031)
-[05/10 21:30:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:30:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 21:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.514[m] 95.872[deg]
-[05/10 21:30:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:33:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:33:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:33:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:33:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 21:33:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.457s, found feasible grasp: True
-[05/10 21:33:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]
-[05/10 21:33:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:33:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:33:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:33:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 21:33:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True
-[05/10 21:33:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]
-[05/10 21:33:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:33:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:33:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:33:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:33:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:33:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:34:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:34:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:34:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.85s (batch: 4.08s, save: 9.77s)
-[05/10 21:34:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
-  episode_total: mean=213.57s, total=213.57s, count=1, min=213573.2ms, max=213573.2ms
-  sensor_polling: mean=497.9ms, total=149.38s, count=300, min=438.9ms, max=928.9ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9770.7ms, max=9770.7ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=18.2ms, max=52.1ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.0ms, max=4082.0ms
-  task_sampling: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms
-  task_specific_sample: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:34:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:34:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:34:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 21:34:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:34:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:34:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062155m
-[05/10 21:34:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:34:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:34:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85319739  0.91691337  0.06215483] yaw=-152.3deg
-[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79724583  0.91953941  0.06215483] yaw=-152.5deg
-[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89177735  0.29904419  0.06215483] yaw=158.3deg
-[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:34:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:34:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.2ms
-[05/10 21:34:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.917, 0.062)
-[05/10 21:34:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg
-[05/10 21:34:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:34:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:34:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:34:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 21:34:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 21:34:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:34:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:34:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 21:34:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
-[05/10 21:34:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 86.134[deg]
-[05/10 21:34:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:36:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:37:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:37:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
-[05/10 21:37:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:37:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:37:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:37:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 3.82s, save: 9.88s)
-[05/10 21:37:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s:
-  episode_total: mean=187.16s, total=187.16s, count=1, min=187155.3ms, max=187155.3ms
-  sensor_polling: mean=464.3ms, total=139.29s, count=300, min=405.8ms, max=696.1ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9879.9ms, max=9879.9ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.4ms, max=77.8ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.8ms, max=3821.8ms
-  task_sampling: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
-  task_specific_sample: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:37:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:37:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:37:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/10 21:37:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=6320.37s
-  House averages:
-  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
-  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
-  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
-  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
-  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
-  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
-  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:37:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 21:37:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=6320.37s
-  Worker averages:
-  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
-  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
-  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
-  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
-  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
-  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
-  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
-  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
-  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
-  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
-  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
-  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
-  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
-  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
-  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
-  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:37:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 21:37:20 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/10 21:37:20 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
-==========================================
diff --git a/fridge_7/chunk_008/shard_2_of_4.log b/fridge_7/chunk_008/shard_2_of_4.log
deleted file mode 100644
index 603f02eb0da1e3404b077d05e5566e81fb6e3a90..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_008/shard_2_of_4.log
+++ /dev/null
@@ -1,1618 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
-  shard=2/4  seed=20802  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7196189fe1d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20802,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 124889469284560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124889469284560 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 124889469284560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124889469284560 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 124889467897744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124889467897744 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124889467898128 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124889467898128 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124889467898128 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124889467898128 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124889467897744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124889467897744 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124889467208080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124889467208080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124889467212816 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124889467212816 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 124889467212816 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124889467212816 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124889467208080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124889467208080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 20:39:39 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f48165b25f0 at 0x719618e085d0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f48165e0190 at 0x7196187116d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f48165e0190 at 0x719618d9ab10>
-[05/10 20:39:41 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 20:39:41 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066341m
-[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78184869  0.45385721  0.06634096] yaw=186.4deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83374436  0.37243671  0.06634096] yaw=178.1deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73115906  0.35503626  0.06634096] yaw=176.7deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=137.1ms, total=149.8ms
-[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.454, 0.066)
-[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 20:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.449s
-[05/10 20:40:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:40:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True
-[05/10 20:40:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 91.075[deg]
-[05/10 20:40:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:41:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:43:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 20:43:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 20:43:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:43:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 20:43:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.11s (batch: 4.22s, save: 8.89s)
-[05/10 20:43:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.38s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235744.9ms, max=235744.9ms
-  sensor_polling: mean=518.6ms, total=155.59s, count=300, min=445.8ms, max=782.6ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8892.4ms, max=8892.4ms
-  physics_step: mean=28.1ms, total=8.43s, count=300, min=18.2ms, max=98.4ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.6ms, max=4219.6ms
-  task_sampling: mean=3.38s, total=3.38s, count=1, min=3381.7ms, max=3381.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=406.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=36.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:43:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:43:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 20:43:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:43:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:43:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031722m
-[05/10 20:43:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:43:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:43:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85114707  0.21209078  0.03172185] yaw=157.7deg
-[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02805143  0.99570984  0.03172185] yaw=-134.6deg
-[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:43:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95074595  0.90874406  0.03172185] yaw=-157.1deg
-[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:43:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:43:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms
-[05/10 20:43:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.212, 0.032)
-[05/10 20:43:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.7 deg
-[05/10 20:43:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:43:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 20:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s
-[05/10 20:43:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:43:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:43:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps
-[05/10 20:43:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
-[05/10 20:43:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.456[m] 85.843[deg]
-[05/10 20:43:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:44:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
-[05/10 20:46:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.405s, found feasible grasp: True
-[05/10 20:46:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg]
-[05/10 20:46:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:46:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:46:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:46:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 20:46:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:46:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:46:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031428m
-[05/10 20:46:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:46:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:46:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03326057  0.83407952  0.03142835] yaw=-153.0deg
-[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72875578  0.21780097  0.03142835] yaw=172.8deg
-[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77324448  0.84483873  0.03142835] yaw=-152.7deg
-[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:46:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:46:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms
-[05/10 20:46:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.834, 0.031)
-[05/10 20:46:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
-[05/10 20:46:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:46:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 20:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 20:46:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:46:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:46:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 20:46:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True
-[05/10 20:46:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.310[deg]
-[05/10 20:46:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:46:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:48:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:49:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:49:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 20:49:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 20:49:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:49:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:49:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.33s (batch: 4.55s, save: 8.78s)
-[05/10 20:49:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
-  episode_total: mean=174.34s, total=348.69s, count=2, min=149907.6ms, max=198777.8ms
-  sensor_polling: mean=523.9ms, total=278.74s, count=532, min=431.5ms, max=837.4ms
-  physics_step: mean=26.0ms, total=13.86s, count=532, min=15.3ms, max=89.1ms
-  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8784.1ms, max=8784.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.0ms, max=4549.0ms
-  task_sampling: mean=459.9ms, total=919.7ms, count=2, min=403.3ms, max=516.4ms
-  task_specific_sample: mean=456.0ms, total=911.9ms, count=2, min=400.0ms, max=511.9ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
-  mj_forward_sync: mean=491.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:49:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:49:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:49:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
-[05/10 20:49:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:49:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:49:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015332m
-[05/10 20:49:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:49:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:49:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81948029  0.39008478  0.0153316 ] yaw=170.3deg
-[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71098987  0.56772336  0.0153316 ] yaw=-164.9deg
-[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84129966  0.52357486  0.0153316 ] yaw=-185.8deg
-[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.0ms
-[05/10 20:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.390, 0.015)
-[05/10 20:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg
-[05/10 20:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:49:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:49:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 20:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 20:49:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:49:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:49:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:49:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
-[05/10 20:49:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.447[m] 93.872[deg]
-[05/10 20:49:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:50:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:52:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:52:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:52:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 20:52:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:52:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:52:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:52:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.29s (batch: 4.24s, save: 9.05s)
-[05/10 20:52:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
-  episode_total: mean=205.00s, total=205.00s, count=1, min=204999.9ms, max=204999.9ms
-  sensor_polling: mean=524.7ms, total=157.42s, count=300, min=442.7ms, max=971.5ms
-  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.9ms, max=9050.9ms
-  physics_step: mean=27.3ms, total=8.19s, count=300, min=15.4ms, max=67.5ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.0ms, max=4240.0ms
-  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
-  task_specific_sample: mean=343.5ms, total=343.5ms, count=1, min=343.5ms, max=343.5ms
-  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
-  mj_forward_sync: mean=486.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:52:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:52:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:52:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:52:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 20:52:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:52:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:52:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011647m
-[05/10 20:52:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:52:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:52:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:55 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=410.6ms, total=410.6ms
-[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:52:55 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 20:52:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:52:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:52:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 20:52:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:52:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:52:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052029m
-[05/10 20:52:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:52:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:52:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97705503  0.94216924  0.05202944] yaw=-154.1deg
-[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79062807  0.65347013  0.05202944] yaw=-170.4deg
-[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93624977  0.29086984  0.05202944] yaw=155.9deg
-[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:52:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:52:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=531.5ms, total=531.6ms
-[05/10 20:52:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.942, 0.052)
-[05/10 20:52:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
-[05/10 20:52:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.859m
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:52:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:52:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:52:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.465[m] 86.296[deg]
-[05/10 20:52:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:53:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:53:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:53:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:55:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:56:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:56:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 20:56:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:56:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:56:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:56:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.93s (batch: 4.28s, save: 10.65s)
-[05/10 20:56:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.87s:
-  episode_total: mean=103.93s, total=207.87s, count=2, min=424.0ms, max=207445.7ms
-  sensor_polling: mean=512.6ms, total=153.78s, count=300, min=445.6ms, max=860.5ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.7ms, max=10645.7ms
-  physics_step: mean=24.6ms, total=7.37s, count=300, min=16.2ms, max=58.0ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.8ms, max=4283.8ms
-  task_specific_sample: mean=641.4ms, total=1.28s, count=2, min=417.0ms, max=865.7ms
-  task_sampling: mean=869.0ms, total=869.0ms, count=1, min=869.0ms, max=869.0ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=536.7us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:56:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:56:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:56:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 20:56:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:56:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:56:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097099m
-[05/10 20:56:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:56:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:56:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11552595  0.95286329  0.09709915] yaw=-138.6deg
-[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66141073  0.460656    0.09709915] yaw=184.3deg
-[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04212281  1.22682431  0.09709915] yaw=-128.7deg
-[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:56:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:56:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
-[05/10 20:56:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.116, 0.953, 0.097)
-[05/10 20:56:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg
-[05/10 20:56:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:56:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:56:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:56:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:56:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.115s
-[05/10 20:56:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:56:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:56:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 20:56:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True
-[05/10 20:56:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.304[m] 84.198[deg]
-[05/10 20:56:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:59:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:59:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:59:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 20:59:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps
-[05/10 20:59:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:59:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:59:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.27s (batch: 4.26s, save: 11.01s)
-[05/10 20:59:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s:
-  episode_total: mean=194.88s, total=194.88s, count=1, min=194881.2ms, max=194881.2ms
-  sensor_polling: mean=518.6ms, total=146.24s, count=282, min=452.4ms, max=793.2ms
-  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.8ms, max=11009.8ms
-  physics_step: mean=25.4ms, total=7.15s, count=282, min=18.3ms, max=76.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.7ms, max=4263.7ms
-  task_sampling: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
-  task_specific_sample: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:59:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:59:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 20:59:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:59:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:59:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061877m
-[05/10 20:59:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:59:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:59:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74420959  0.92878608  0.06187672] yaw=-164.9deg
-[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76783102  0.23666016  0.06187672] yaw=162.8deg
-[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97854473  0.90399044  0.06187672] yaw=-147.7deg
-[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:59:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:59:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms
-[05/10 20:59:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.929, 0.062)
-[05/10 20:59:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg
-[05/10 20:59:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:59:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/10 20:59:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:59:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:59:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:59:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.944s, found feasible grasp: True
-[05/10 20:59:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.674[m] 94.085[deg]
-[05/10 20:59:47 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:59:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:59:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/10 20:59:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:59:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:59:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025708m
-[05/10 20:59:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:59:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:59:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03868252  0.9814581   0.02570762] yaw=-133.7deg
-[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:59:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93708032  1.01935324  0.02570762] yaw=-139.8deg
-[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88106154  0.14791502  0.02570762] yaw=164.8deg
-[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:59:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:59:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms
-[05/10 20:59:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.981, 0.026)
-[05/10 20:59:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
-[05/10 20:59:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:59:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 20:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 20:59:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:59:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:59:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 20:59:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True
-[05/10 20:59:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.398[m] 87.185[deg]
-[05/10 20:59:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:00:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:00:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:02:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:03:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:03:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:03:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:03:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:03:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:03:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 4.16s, save: 9.39s)
-[05/10 21:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.93s:
-  episode_total: mean=109.03s, total=218.06s, count=2, min=3762.9ms, max=214292.6ms
-  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=437.4ms, max=1021.9ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9394.6ms, max=9394.6ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=18.5ms, max=80.1ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4165.0ms, max=4165.0ms
-  task_sampling: mean=464.9ms, total=929.8ms, count=2, min=394.7ms, max=535.1ms
-  task_specific_sample: mean=461.4ms, total=922.8ms, count=2, min=391.6ms, max=531.2ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:03:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:03:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:03:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 21:03:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:03:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:03:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070359m
-[05/10 21:03:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:03:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:03:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6882743   0.77303825  0.07035882] yaw=-159.0deg
-[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8717183   0.34470016  0.07035882] yaw=172.0deg
-[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92836877  0.35679828  0.07035882] yaw=160.4deg
-[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:03:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:03:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=445.2ms, total=445.2ms
-[05/10 21:03:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.773, 0.070)
-[05/10 21:03:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg
-[05/10 21:03:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:03:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:03:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 21:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
-[05/10 21:03:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:03:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:03:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.576s, found feasible grasp: True
-[05/10 21:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 76.978[deg]
-[05/10 21:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:04:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:04:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:06:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:06:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:06:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:06:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:06:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:06:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:06:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.72s (batch: 4.80s, save: 11.92s)
-[05/10 21:06:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
-  episode_total: mean=208.91s, total=208.91s, count=1, min=208912.7ms, max=208912.7ms
-  sensor_polling: mean=504.8ms, total=151.43s, count=300, min=439.2ms, max=782.2ms
-  save_trajectories: mean=11.92s, total=11.92s, count=1, min=11919.7ms, max=11919.7ms
-  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.9ms, max=61.1ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.7ms, max=4802.7ms
-  task_sampling: mean=754.1ms, total=754.1ms, count=1, min=754.1ms, max=754.1ms
-  task_specific_sample: mean=749.4ms, total=749.4ms, count=1, min=749.4ms, max=749.4ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=546.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:06:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:06:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:06:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/10 21:06:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:06:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:06:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094808m
-[05/10 21:06:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:06:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:06:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86202496  0.11575007  0.09480783] yaw=162.8deg
-[05/10 21:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86221134  0.90179343  0.09480783] yaw=-158.3deg
-[05/10 21:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:06:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81107541  0.60100077  0.09480783] yaw=-167.9deg
-[05/10 21:06:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:06:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:06:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms
-[05/10 21:06:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.116, 0.095)
-[05/10 21:06:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
-[05/10 21:06:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
-[05/10 21:06:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:06:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:06:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:06:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:06:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 21:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 21:06:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:06:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:06:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:06:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
-[05/10 21:06:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.518[m] 99.536[deg]
-[05/10 21:06:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:06:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:06:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:07:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:09:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:09:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/10 21:09:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.855s, found feasible grasp: True
-[05/10 21:09:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.359[deg]
-[05/10 21:09:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:09:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:09:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 21:09:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:09:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:09:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026858m
-[05/10 21:09:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:09:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:09:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76180604  0.94642698  0.02685766] yaw=-163.8deg
-[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13545047  1.10226783  0.02685766] yaw=-123.4deg
-[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70972525  0.54713856  0.02685766] yaw=-178.7deg
-[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:09:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:09:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.8ms
-[05/10 21:09:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.946, 0.027)
-[05/10 21:09:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
-[05/10 21:09:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:09:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 21:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 21:09:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 21:09:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
-[05/10 21:09:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.657[m] 93.126[deg]
-[05/10 21:09:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:12:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:12:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:12:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:12:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:13:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:13:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:13:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.98s (batch: 5.40s, save: 9.58s)
-[05/10 21:13:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
-  episode_total: mean=182.28s, total=364.57s, count=2, min=161375.7ms, max=203194.1ms
-  sensor_polling: mean=511.6ms, total=283.41s, count=554, min=427.9ms, max=1191.0ms
-  physics_step: mean=25.1ms, total=13.89s, count=554, min=15.1ms, max=112.2ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.4ms, max=9577.4ms
-  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5403.2ms, max=5403.2ms
-  task_sampling: mean=463.1ms, total=926.2ms, count=2, min=400.0ms, max=526.2ms
-  task_specific_sample: mean=459.2ms, total=918.5ms, count=2, min=396.4ms, max=522.0ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.8ms
-  mj_forward_sync: mean=504.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:13:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:13:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:13:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 21:13:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:13:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:13:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018486m
-[05/10 21:13:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:13:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:13:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00915683  0.95196939  0.01848562] yaw=-143.0deg
-[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7464437   0.09366935  0.01848562] yaw=153.8deg
-[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80733136  0.26203661  0.01848562] yaw=162.1deg
-[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:13:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:13:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms
-[05/10 21:13:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.952, 0.018)
-[05/10 21:13:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg
-[05/10 21:13:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.837m
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:13:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:13:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:13:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 21:13:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 21:13:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:13:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:13:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 21:13:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
-[05/10 21:13:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 98.355[deg]
-[05/10 21:13:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:15:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:16:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:16:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:16:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:16:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.71s (batch: 4.34s, save: 10.38s)
-[05/10 21:16:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
-  episode_total: mean=211.15s, total=211.15s, count=1, min=211145.4ms, max=211145.4ms
-  sensor_polling: mean=514.6ms, total=154.37s, count=300, min=439.6ms, max=873.6ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10376.1ms, max=10376.1ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=14.7ms, max=82.9ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.7ms, max=4336.7ms
-  task_sampling: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=422.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:16:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:16:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 21:16:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:16:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:16:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098945m
-[05/10 21:16:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:16:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:16:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94107954  1.27495925  0.09894454] yaw=-142.2deg
-[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:16:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610995  0.94020502  0.09894454] yaw=-156.4deg
-[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01253029  0.90722948  0.09894454] yaw=-146.3deg
-[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:16:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:16:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=421.1ms, total=421.2ms
-[05/10 21:16:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.275, 0.099)
-[05/10 21:16:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
-[05/10 21:16:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:16:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 21:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 21:16:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:16:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:16:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 21:16:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.006s, found feasible grasp: False
-[05/10 21:16:42 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 21:16:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:16:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 21:16:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:16:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:16:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099381m
-[05/10 21:16:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:16:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:16:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96739824  0.821801    0.09938121] yaw=-154.2deg
-[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82488118  0.4547541   0.09938121] yaw=179.0deg
-[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08665308  1.05510919  0.09938121] yaw=-140.0deg
-[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:16:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:16:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms
-[05/10 21:16:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.822, 0.099)
-[05/10 21:16:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
-[05/10 21:16:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:16:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 21:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
-[05/10 21:16:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:16:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:16:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:16:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True
-[05/10 21:16:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 85.056[deg]
-[05/10 21:16:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:19:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:20:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:20:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:20:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 21:20:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:20:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:20:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.20s (batch: 4.92s, save: 9.28s)
-[05/10 21:20:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
-  episode_total: mean=107.27s, total=214.55s, count=2, min=3958.6ms, max=210587.9ms
-  sensor_polling: mean=527.8ms, total=154.13s, count=292, min=437.2ms, max=1281.9ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9276.1ms, max=9276.1ms
-  physics_step: mean=26.1ms, total=7.63s, count=292, min=15.8ms, max=126.1ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4921.1ms, max=4921.1ms
-  task_sampling: mean=606.5ms, total=1.21s, count=2, min=450.0ms, max=762.9ms
-  task_specific_sample: mean=601.5ms, total=1.20s, count=2, min=444.6ms, max=758.3ms
-  scene_randomize: mean=2.9ms, total=5.9ms, count=2, min=2.7ms, max=3.2ms
-  mj_forward_sync: mean=874.0us, total=1.7ms, count=2, min=0.6ms, max=1.2ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:20:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:20:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:20:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/10 21:20:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:20:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:20:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028885m
-[05/10 21:20:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:20:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:20:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67935582  0.47566532  0.0288846 ] yaw=185.4deg
-[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:20:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77584687  0.14391026  0.0288846 ] yaw=161.3deg
-[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95801537  0.70958971  0.0288846 ] yaw=-163.3deg
-[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:20:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:20:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms
-[05/10 21:20:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.476, 0.029)
-[05/10 21:20:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg
-[05/10 21:20:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:20:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:20:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:20:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 21:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 21:20:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:20:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:20:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 21:20:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True
-[05/10 21:20:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.759[deg]
-[05/10 21:20:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:21:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:21:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:23:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:23:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:23:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:23:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:24:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:24:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:24:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 4.75s, save: 8.61s)
-[05/10 21:24:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=226.89s, total=226.89s, count=1, min=226887.5ms, max=226887.5ms
-  sensor_polling: mean=536.1ms, total=160.82s, count=300, min=460.2ms, max=865.8ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.8ms, max=8614.8ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.3ms, max=83.6ms
-  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.6ms, max=4747.6ms
-  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  task_specific_sample: mean=400.6ms, total=400.6ms, count=1, min=400.6ms, max=400.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=419.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:24:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:24:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 21:24:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:24:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:24:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016479m
-[05/10 21:24:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:24:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:24:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82856008  1.03574903  0.016479  ] yaw=-150.7deg
-[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02363036  1.31224936  0.016479  ] yaw=-139.2deg
-[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90614888  0.41199153  0.016479  ] yaw=171.4deg
-[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:24:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:24:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.6ms, total=87.6ms
-[05/10 21:24:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 1.036, 0.016)
-[05/10 21:24:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg
-[05/10 21:24:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:24:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 21:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:24:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.785s, found feasible grasp: True
-[05/10 21:24:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 80.845[deg]
-[05/10 21:24:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:25:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:26:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:27:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:27:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:27:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:27:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:27:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:27:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.68s (batch: 4.50s, save: 10.18s)
-[05/10 21:27:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
-  episode_total: mean=212.32s, total=212.32s, count=1, min=212317.9ms, max=212317.9ms
-  sensor_polling: mean=518.2ms, total=155.47s, count=300, min=435.1ms, max=973.2ms
-  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10178.2ms, max=10178.2ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.6ms, max=106.6ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.0ms, max=4497.0ms
-  task_sampling: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
-  task_specific_sample: mean=410.4ms, total=410.4ms, count=1, min=410.4ms, max=410.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=445.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:27:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:27:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:27:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 21:27:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:27:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:27:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040113m
-[05/10 21:27:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:27:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:27:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96670327  0.93723545  0.04011328] yaw=-158.9deg
-[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:27:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90440846  0.09259245  0.04011328] yaw=143.5deg
-[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:27:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7936102   0.04918783  0.04011328] yaw=146.2deg
-[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:27:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:27:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.4ms
-[05/10 21:27:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.937, 0.040)
-[05/10 21:27:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg
-[05/10 21:27:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:27:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:27:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:27:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 21:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:27:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:27:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:27:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/10 21:27:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True
-[05/10 21:27:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.297[deg]
-[05/10 21:27:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:30:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:30:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:30:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
-[05/10 21:30:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:31:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:31:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:31:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 5.07s, save: 8.50s)
-[05/10 21:31:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.46s:
-  episode_total: mean=206.78s, total=206.78s, count=1, min=206777.6ms, max=206777.6ms
-  sensor_polling: mean=521.6ms, total=156.47s, count=300, min=440.9ms, max=947.0ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8496.9ms, max=8496.9ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.9ms, max=78.0ms
-  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5067.8ms, max=5067.8ms
-  task_sampling: mean=463.2ms, total=463.2ms, count=1, min=463.2ms, max=463.2ms
-  task_specific_sample: mean=456.1ms, total=456.1ms, count=1, min=456.1ms, max=456.1ms
-  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=693.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:31:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:31:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:31:07 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/10 21:31:07 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5644.10s
-  House averages:
-  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
-  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
-  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
-  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
-  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
-  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
-  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:31:07 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 21:31:07 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5644.10s
-  Worker averages:
-  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
-  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
-  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
-  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
-  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
-  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
-  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
-  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
-  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
-  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
-  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
-  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
-  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
-  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:31:10 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 21:31:10 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/10 21:31:10 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
-==========================================
diff --git a/fridge_7/chunk_008/shard_3_of_4.log b/fridge_7/chunk_008/shard_3_of_4.log
deleted file mode 100644
index d4964dd10224940d63c555e5a7d77905eae17532..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_008/shard_3_of_4.log
+++ /dev/null
@@ -1,1818 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
-  shard=3/4  seed=20803  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:40 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 20:39:40 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 20:39:40 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 20:39:40 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7703667e7490>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20803,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 20:39:40 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 20:39:40 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130856484773136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130856484773136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130856484773136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130856484773136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130856487908176 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130856487908176 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130856487908112 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130856487908112 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130856487908112 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130856487908112 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130856487908176 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130856487908176 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130856484834512 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130856484834512 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130856484843024 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130856484843024 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130856484843024 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130856484843024 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130856484834512 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130856484834512 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 20:39:40 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 56cacd8b8db0 at 0x770366d5cc90>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56cacd8ba880 at 0x770366d702d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56cacd8ba880 at 0x770366cf3090>
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017565m
-[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228617  0.36450351  0.01756466] yaw=167.9deg
-[05/10 20:39:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:39:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02738909  1.32854016  0.01756466] yaw=-126.5deg
-[05/10 20:39:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:39:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:39:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=13.6ms, retries=189.7ms, total=203.3ms
-[05/10 20:39:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.365, 0.018)
-[05/10 20:39:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg
-[05/10 20:39:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.937m
-[05/10 20:39:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:39:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.227s
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 20:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True
-[05/10 20:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.484[m] 87.377[deg]
-[05/10 20:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:41:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:41:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:43:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 20:43:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 20:43:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:43:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 20:43:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 3.93s, save: 10.10s)
-[05/10 20:43:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
-  episode_total: mean=243.41s, total=243.41s, count=1, min=243414.3ms, max=243414.3ms
-  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=441.8ms, max=733.0ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.0ms, max=10097.0ms
-  physics_step: mean=27.5ms, total=8.24s, count=300, min=18.0ms, max=65.0ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
-  task_sampling: mean=3.28s, total=3.28s, count=1, min=3284.8ms, max=3284.8ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=386.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:43:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:43:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 20:43:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:43:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:43:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014330m
-[05/10 20:43:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:43:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:43:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78585762  0.6720323   0.01432994] yaw=-178.0deg
-[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86689258  0.54766652  0.01432994] yaw=-164.7deg
-[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71388448  0.08497337  0.01432994] yaw=153.3deg
-[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:43:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:43:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms
-[05/10 20:43:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.672, 0.014)
-[05/10 20:43:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg
-[05/10 20:43:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:43:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 20:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 20:43:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:43:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:43:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 20:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True
-[05/10 20:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.477[m] 83.690[deg]
-[05/10 20:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:46:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:47:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:47:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 20:47:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:47:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:47:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:47:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.29s (batch: 4.76s, save: 11.52s)
-[05/10 20:47:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=212.61s, total=212.61s, count=1, min=212607.0ms, max=212607.0ms
-  sensor_polling: mean=525.0ms, total=157.49s, count=300, min=452.5ms, max=747.5ms
-  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11523.4ms, max=11523.4ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.3ms, max=52.8ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.3ms, max=4762.3ms
-  task_sampling: mean=502.0ms, total=502.0ms, count=1, min=502.0ms, max=502.0ms
-  task_specific_sample: mean=498.1ms, total=498.1ms, count=1, min=498.1ms, max=498.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:47:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:47:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
-[05/10 20:47:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:47:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:47:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075274m
-[05/10 20:47:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:47:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:47:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90973003  0.30986508  0.0752744 ] yaw=168.9deg
-[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94880968  0.56225182  0.0752744 ] yaw=-165.5deg
-[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6846533  0.1864349  0.0752744] yaw=161.0deg
-[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:47:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:47:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms
-[05/10 20:47:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.310, 0.075)
-[05/10 20:47:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg
-[05/10 20:47:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:47:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 20:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 20:47:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:47:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:47:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 20:47:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True
-[05/10 20:47:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.338[m] 83.787[deg]
-[05/10 20:47:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:47:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:47:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:48:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:48:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:49:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:49:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:49:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:49:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/10 20:49:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True
-[05/10 20:49:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.755[deg]
-[05/10 20:49:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:49:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:49:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:49:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
-[05/10 20:49:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:49:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:49:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002364m
-[05/10 20:49:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:49:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:49:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72076745  0.13192661  0.00236352] yaw=152.1deg
-[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94624838  0.35231675  0.00236352] yaw=172.3deg
-[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88263174  0.23825297  0.00236352] yaw=174.2deg
-[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:49:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:49:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.2ms
-[05/10 20:49:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.132, 0.002)
-[05/10 20:49:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg
-[05/10 20:49:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:49:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 20:49:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 20:49:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:49:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:49:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:49:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True
-[05/10 20:49:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.617[m] 97.234[deg]
-[05/10 20:49:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:50:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:51:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:51:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:51:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:52:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:52:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:52:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 20:52:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:52:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:52:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:52:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 4.72s, save: 9.31s)
-[05/10 20:52:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
-  episode_total: mean=166.92s, total=333.84s, count=2, min=111273.9ms, max=222568.6ms
-  sensor_polling: mean=517.1ms, total=245.10s, count=474, min=440.3ms, max=777.5ms
-  physics_step: mean=26.1ms, total=12.37s, count=474, min=15.4ms, max=70.0ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.0ms, max=9306.0ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.8ms, max=4724.8ms
-  task_sampling: mean=531.9ms, total=1.06s, count=2, min=492.4ms, max=571.5ms
-  task_specific_sample: mean=528.4ms, total=1.06s, count=2, min=488.5ms, max=568.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=434.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:52:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:52:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:52:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 20:52:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:52:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:52:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053806m
-[05/10 20:52:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:52:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:52:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74697814  0.17920632  0.05380607] yaw=170.6deg
-[05/10 20:52:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:52:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68632484  0.8800913   0.05380607] yaw=-165.1deg
-[05/10 20:52:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:52:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:52:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.2ms, total=271.3ms
-[05/10 20:52:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.179, 0.054)
-[05/10 20:52:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg
-[05/10 20:52:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:52:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:52:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:52:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 20:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
-[05/10 20:52:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:52:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:52:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
-[05/10 20:52:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.571[m] 88.529[deg]
-[05/10 20:52:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:55:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:55:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:55:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:55:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
-[05/10 20:55:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.467s, found feasible grasp: True
-[05/10 20:55:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.731[deg]
-[05/10 20:55:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:55:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:55:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:55:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:55:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:55:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:55:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:55:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 20:55:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:55:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:55:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041680m
-[05/10 20:55:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:55:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:55:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:55:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7361259   0.76446087  0.0416802 ] yaw=-160.7deg
-[05/10 20:55:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:55:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76330214  0.66265515  0.0416802 ] yaw=-180.2deg
-[05/10 20:55:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:55:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:55:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=352.9ms, total=352.9ms
-[05/10 20:55:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.764, 0.042)
-[05/10 20:55:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
-[05/10 20:55:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.007m
-[05/10 20:55:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:55:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:55:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:55:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:55:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/10 20:55:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:55:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:55:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:55:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.762s, found feasible grasp: True
-[05/10 20:55:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.563[m] 93.167[deg]
-[05/10 20:55:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:57:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:58:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:59:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:59:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 20:59:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:59:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:59:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:59:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.32s (batch: 4.36s, save: 8.96s)
-[05/10 20:59:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.18s:
-  episode_total: mean=191.69s, total=383.39s, count=2, min=176533.5ms, max=206856.0ms
-  sensor_polling: mean=515.9ms, total=306.95s, count=595, min=442.3ms, max=897.5ms
-  physics_step: mean=25.6ms, total=15.24s, count=595, min=16.5ms, max=87.9ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8960.6ms, max=8960.6ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.9ms, max=4358.9ms
-  task_sampling: mean=592.5ms, total=1.18s, count=2, min=564.0ms, max=620.9ms
-  task_specific_sample: mean=588.0ms, total=1.18s, count=2, min=559.5ms, max=616.4ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.1ms, max=3.0ms
-  mj_forward_sync: mean=665.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
-  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:59:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:59:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 20:59:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:59:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:59:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022429m
-[05/10 20:59:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:59:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:59:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98518954  0.11480278  0.02242917] yaw=152.9deg
-[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62239459  0.68031123  0.02242917] yaw=-180.6deg
-[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02356828  0.90116622  0.02242917] yaw=-143.7deg
-[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:59:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:59:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms
-[05/10 20:59:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.115, 0.022)
-[05/10 20:59:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg
-[05/10 20:59:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:59:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:59:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:59:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 20:59:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:59:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:59:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 20:59:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
-[05/10 20:59:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 95.415[deg]
-[05/10 20:59:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:00:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:00:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:01:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:01:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:01:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:01:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:01:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:01:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:01:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 21:01:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.424s, found feasible grasp: True
-[05/10 21:01:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.044[deg]
-[05/10 21:01:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 21:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027318m
-[05/10 21:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:01:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78261569  0.41651374  0.02731753] yaw=179.7deg
-[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94307933  0.23508737  0.02731753] yaw=152.7deg
-[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95626565  1.09279234  0.02731753] yaw=-149.5deg
-[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:01:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:01:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms
-[05/10 21:01:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.417, 0.027)
-[05/10 21:01:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg
-[05/10 21:01:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.922m
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:01:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 21:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 21:01:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:01:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:01:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:01:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
-[05/10 21:01:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 91.437[deg]
-[05/10 21:01:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:04:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:04:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:04:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 21:04:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:05:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:05:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:05:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.82s (batch: 4.82s, save: 8.99s)
-[05/10 21:05:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.97s:
-  episode_total: mean=170.04s, total=340.08s, count=2, min=127662.5ms, max=212415.0ms
-  sensor_polling: mean=537.3ms, total=261.66s, count=487, min=453.5ms, max=932.4ms
-  physics_step: mean=25.8ms, total=12.57s, count=487, min=15.6ms, max=105.4ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8994.1ms, max=8994.1ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4821.5ms, max=4821.5ms
-  task_sampling: mean=485.3ms, total=970.7ms, count=2, min=452.0ms, max=518.7ms
-  task_specific_sample: mean=481.5ms, total=963.1ms, count=2, min=448.4ms, max=514.7ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
-  mj_forward_sync: mean=541.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:05:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:05:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:05:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 21:05:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:05:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:05:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084557m
-[05/10 21:05:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:05:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:05:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04503367  1.01307581  0.08455656] yaw=-152.1deg
-[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66509817  0.22701632  0.08455656] yaw=163.0deg
-[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74879686  0.13037515  0.08455656] yaw=162.7deg
-[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:05:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:05:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms
-[05/10 21:05:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.013, 0.085)
-[05/10 21:05:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
-[05/10 21:05:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:05:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:05:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:05:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 21:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 21:05:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:05:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:05:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/10 21:05:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
-[05/10 21:05:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.447[m] 92.015[deg]
-[05/10 21:05:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:06:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:08:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:08:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:08:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:08:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 21:08:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.547s, found feasible grasp: True
-[05/10 21:08:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.395[deg]
-[05/10 21:08:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:08:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:08:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:08:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/10 21:08:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:08:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:08:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081595m
-[05/10 21:08:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:08:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:08:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92635536  0.99444095  0.08159465] yaw=-135.9deg
-[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77760671  0.5167301   0.08159465] yaw=-171.4deg
-[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91171985  0.26897134  0.08159465] yaw=154.5deg
-[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:08:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:08:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.4ms, total=351.5ms
-[05/10 21:08:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.994, 0.082)
-[05/10 21:08:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
-[05/10 21:08:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.930m
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:08:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:08:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 21:08:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 21:08:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:08:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:08:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:08:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.522s, found feasible grasp: True
-[05/10 21:08:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.514[m] 84.727[deg]
-[05/10 21:08:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:09:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:11:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:11:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:11:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 21:11:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:11:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:11:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:11:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.62s (batch: 4.14s, save: 8.48s)
-[05/10 21:11:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.07s:
-  episode_total: mean=193.66s, total=387.33s, count=2, min=184509.1ms, max=202820.0ms
-  sensor_polling: mean=519.5ms, total=308.61s, count=594, min=438.4ms, max=989.5ms
-  physics_step: mean=25.8ms, total=15.33s, count=594, min=15.8ms, max=102.6ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8482.7ms, max=8482.7ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.5ms, max=4138.5ms
-  task_sampling: mean=536.9ms, total=1.07s, count=2, min=451.3ms, max=622.4ms
-  task_specific_sample: mean=533.3ms, total=1.07s, count=2, min=447.3ms, max=619.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:11:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:11:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:11:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:11:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:11:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:11:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:11:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/10 21:11:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:11:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:11:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028374m
-[05/10 21:11:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:11:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:11:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92859034  1.17465887  0.02837406] yaw=-135.7deg
-[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88348697  1.00175933  0.02837406] yaw=-152.7deg
-[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92005848  0.45639897  0.02837406] yaw=168.3deg
-[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:11:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:11:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.0ms, total=141.0ms
-[05/10 21:11:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.175, 0.028)
-[05/10 21:11:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg
-[05/10 21:11:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
-[05/10 21:11:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:11:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:11:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:11:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:11:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:11:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 21:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:11:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:11:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:11:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 21:11:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True
-[05/10 21:11:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.650[m] 99.437[deg]
-[05/10 21:11:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:14:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:14:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:14:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:14:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps
-[05/10 21:14:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 1.740s, found feasible grasp: False
-[05/10 21:14:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 21:14:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:14:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:14:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 21:14:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:14:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:14:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062896m
-[05/10 21:14:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:14:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:14:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99998044  0.84898364  0.06289584] yaw=-161.7deg
-[05/10 21:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0402408   1.10424358  0.06289584] yaw=-147.9deg
-[05/10 21:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:14:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:14:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms
-[05/10 21:14:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.849, 0.063)
-[05/10 21:14:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg
-[05/10 21:14:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:14:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:14:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 21:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 21:14:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:14:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:14:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 21:14:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
-[05/10 21:14:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.381[m] 88.355[deg]
-[05/10 21:14:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:15:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:17:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:17:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:17:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 21:17:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
-[05/10 21:17:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:17:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:17:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.70s (batch: 4.69s, save: 11.01s)
-[05/10 21:17:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.87s:
-  episode_total: mean=183.62s, total=367.25s, count=2, min=161002.4ms, max=206245.9ms
-  sensor_polling: mean=508.0ms, total=287.53s, count=566, min=433.3ms, max=1026.0ms
-  physics_step: mean=24.9ms, total=14.10s, count=566, min=16.6ms, max=110.2ms
-  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11014.1ms, max=11014.1ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.2ms, max=4688.2ms
-  task_sampling: mean=436.1ms, total=872.2ms, count=2, min=432.8ms, max=439.4ms
-  task_specific_sample: mean=432.2ms, total=864.4ms, count=2, min=428.9ms, max=435.5ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
-  mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:17:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:17:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:17:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
-[05/10 21:17:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:17:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:17:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085704m
-[05/10 21:17:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:17:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:17:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80090426  0.54350799  0.08570396] yaw=-167.8deg
-[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:17:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:17:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06586549  1.13886498  0.08570396] yaw=-134.7deg
-[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88294011  1.1718493   0.08570396] yaw=-144.3deg
-[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:17:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:17:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms
-[05/10 21:17:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.544, 0.086)
-[05/10 21:17:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
-[05/10 21:17:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:17:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:17:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:17:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 21:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 21:17:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:17:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:17:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 21:17:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
-[05/10 21:17:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 83.621[deg]
-[05/10 21:17:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:18:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:20:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:20:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:20:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/10 21:20:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.681s, found feasible grasp: True
-[05/10 21:20:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.155[deg]
-[05/10 21:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 21:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:21:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:21:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:21:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps
-[05/10 21:21:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 0.461s, found feasible grasp: True
-[05/10 21:21:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.122[m] 3.023[deg]
-[05/10 21:21:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:21:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
-[05/10 21:21:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.41s:
-  episode_total: mean=204.80s, total=204.80s, count=1, min=204803.2ms, max=204803.2ms
-  sensor_polling: mean=521.2ms, total=156.36s, count=300, min=444.9ms, max=1178.7ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.5ms, max=92.6ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=411.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:21:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:21:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:21:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 21:21:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:21:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:21:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084384m
-[05/10 21:21:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:21:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:21:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15947316  1.0270769   0.08438421] yaw=-123.6deg
-[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03280565  0.96791015  0.08438421] yaw=-148.3deg
-[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566816  0.8953798   0.08438421] yaw=-153.7deg
-[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:21:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:21:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.5ms
-[05/10 21:21:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.027, 0.084)
-[05/10 21:21:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.6 deg
-[05/10 21:21:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.769m
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:21:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:21:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:21:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 21:21:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 21:21:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:21:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:21:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 21:21:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True
-[05/10 21:21:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.343[m] 85.174[deg]
-[05/10 21:21:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:23:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:23:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:23:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:23:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/10 21:24:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.781s, found feasible grasp: True
-[05/10 21:24:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.351[deg]
-[05/10 21:24:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:24:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:24:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
-[05/10 21:24:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:24:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:24:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075062m
-[05/10 21:24:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:24:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:24:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8577659   1.09722795  0.07506166] yaw=-133.8deg
-[05/10 21:24:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:24:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:24:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.0ms
-[05/10 21:24:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.097, 0.075)
-[05/10 21:24:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg
-[05/10 21:24:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:24:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 21:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:24:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:24:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True
-[05/10 21:24:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.644[m] 98.074[deg]
-[05/10 21:24:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:25:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:26:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:27:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:27:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 21:27:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:27:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:27:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:27:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.40s (batch: 4.42s, save: 8.99s)
-[05/10 21:27:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.96s:
-  episode_total: mean=188.01s, total=376.01s, count=2, min=166513.4ms, max=209497.4ms
-  sensor_polling: mean=516.7ms, total=293.98s, count=569, min=427.4ms, max=1005.5ms
-  physics_step: mean=25.1ms, total=14.26s, count=569, min=16.1ms, max=121.8ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.1ms, max=8988.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4415.3ms, max=4415.3ms
-  task_sampling: mean=477.8ms, total=955.7ms, count=2, min=425.4ms, max=530.2ms
-  task_specific_sample: mean=474.4ms, total=948.8ms, count=2, min=422.2ms, max=526.5ms
-  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
-  mj_forward_sync: mean=414.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:27:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:27:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:27:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 21:27:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:27:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:27:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058430m
-[05/10 21:27:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:27:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:27:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1735197   1.05309213  0.05843003] yaw=-130.2deg
-[05/10 21:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89298718  1.01973276  0.05843003] yaw=-151.6deg
-[05/10 21:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:27:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:27:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms
-[05/10 21:27:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.053, 0.058)
-[05/10 21:27:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg
-[05/10 21:27:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:27:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:27:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 21:27:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/10 21:27:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:27:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:27:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 21:27:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True
-[05/10 21:27:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.409[m] 96.189[deg]
-[05/10 21:27:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:28:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:28:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:30:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:30:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:30:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:30:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:30:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:30:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:30:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:30:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:30:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.183s, found 76 non-colliding grasps
-[05/10 21:30:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.817s, found feasible grasp: True
-[05/10 21:30:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]
-[05/10 21:30:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:30:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:30:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 21:30:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:30:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:30:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046440m
-[05/10 21:30:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:30:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:30:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:30:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02673665  1.28532242  0.04644041] yaw=-131.3deg
-[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85446516  0.88461746  0.04644041] yaw=-154.0deg
-[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94417356  0.4660807   0.04644041] yaw=176.7deg
-[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:30:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:30:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms
-[05/10 21:30:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.027, 1.285, 0.046)
-[05/10 21:30:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg
-[05/10 21:30:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
-[05/10 21:30:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:30:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 21:30:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 21:30:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:30:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:30:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 21:30:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.190s, found feasible grasp: True
-[05/10 21:30:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 538, in compute_grasp_pose
-    original_grasp_idx = grasp_idx % (len(grasp_poses_world) // 2)
-                         ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-TypeError: unsupported operand type(s) for %: 'NoneType' and 'int'
-[05/10 21:30:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:30:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 21:30:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:30:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:30:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038485m
-[05/10 21:30:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:30:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:30:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96042765  1.03971419  0.03848463] yaw=-152.7deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00166828  1.14633781  0.03848463] yaw=-127.7deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64956227  0.33866036  0.03848463] yaw=183.0deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:30:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:30:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=438.8ms, total=438.8ms
-[05/10 21:30:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 1.040, 0.038)
-[05/10 21:30:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg
-[05/10 21:30:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:30:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 21:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:30:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 21:30:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.301s, found feasible grasp: True
-[05/10 21:30:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.507[m] 90.265[deg]
-[05/10 21:30:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:33:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:33:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:33:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
-[05/10 21:33:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:33:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:33:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:33:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.18s (batch: 3.74s, save: 8.44s)
-[05/10 21:33:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.86s:
-  episode_total: mean=125.61s, total=376.84s, count=3, min=4892.0ms, max=202260.0ms
-  sensor_polling: mean=503.3ms, total=286.38s, count=569, min=429.8ms, max=1206.2ms
-  physics_step: mean=24.5ms, total=13.93s, count=569, min=15.8ms, max=101.2ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.5ms, max=8439.5ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.9ms, max=3744.9ms
-  task_sampling: mean=618.5ms, total=1.86s, count=3, min=535.3ms, max=776.0ms
-  task_specific_sample: mean=614.4ms, total=1.84s, count=3, min=531.1ms, max=771.6ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.6ms, max=2.8ms
-  mj_forward_sync: mean=551.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 21:33:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:33:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:33:58 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 9/10 successful episodes
-[05/10 21:33:58 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=5960.45s
-  House averages:
-  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
-  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
-  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
-  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
-  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
-  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
-  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:33:58 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 21:33:58 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5960.45s
-  Worker averages:
-  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
-  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
-  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
-  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
-  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
-  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
-  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
-  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
-  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
-  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
-  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
-  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
-  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
-  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
-  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:34:01 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 21:34:01 INFO pipeline.py:1491] Success count: 9, Total count: 10
-[05/10 21:34:01 INFO pipeline.py:1492] Success rate: 90.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
-==========================================
diff --git a/fridge_7/chunk_008/shard_4_of_4.log b/fridge_7/chunk_008/shard_4_of_4.log
deleted file mode 100644
index 6ccc232c8e809ff83bd5d1de879afa8d59246ad8..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_008/shard_4_of_4.log
+++ /dev/null
@@ -1,1783 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
-  shard=4/4  seed=20804  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7cb5dd7c4e10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20804,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 137120544140432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 137120544140432 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 137120544140432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 137120544140432 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 137120549172944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137120549172944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137120549173328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137120549173328 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137120549173328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137120549173328 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137120549172944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137120549172944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137120542231312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137120542231312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 137120542232592 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137120542232592 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 137120542232592 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 137120542232592 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 137120542231312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 137120542231312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 20:39:39 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c5e8bb29240 at 0x7cb5ddb97ad0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c5e8bb2ad70 at 0x7cb5ddba7310>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c5e8bb2ad70 at 0x7cb5ddd29f50>
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091023m
-[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65072881  0.60037137  0.09102282] yaw=-169.0deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73550156 -0.00800756  0.09102282] yaw=163.6deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04409002  0.99226242  0.09102282] yaw=-135.2deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=50.0ms, retries=159.0ms, total=209.0ms
-[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.600, 0.091)
-[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
-[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.058m
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.992s
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 20:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True
-[05/10 20:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.619[m] 90.188[deg]
-[05/10 20:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:42:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 20:43:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 20:43:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:43:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 20:43:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:43:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.23s (batch: 4.21s, save: 9.02s)
-[05/10 20:43:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.34s:
-  episode_total: mean=233.66s, total=233.66s, count=1, min=233657.1ms, max=233657.1ms
-  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=444.2ms, max=769.9ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9021.0ms, max=9021.0ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=15.4ms, max=59.6ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.6ms, max=4207.6ms
-  task_sampling: mean=3.34s, total=3.34s, count=1, min=3341.8ms, max=3341.8ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  task_specific_sample: mean=566.8ms, total=566.8ms, count=1, min=566.8ms, max=566.8ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=612.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:43:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:43:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 20:43:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:43:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:43:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068651m
-[05/10 20:43:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:43:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:43:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17742087  1.12913449  0.06865121] yaw=-133.1deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07263019  0.90377786  0.06865121] yaw=-136.4deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64420704  0.20664363  0.06865121] yaw=161.3deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:43:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:43:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms
-[05/10 20:43:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.177, 1.129, 0.069)
-[05/10 20:43:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
-[05/10 20:43:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:43:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:43:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/10 20:43:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:43:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:43:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 20:43:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
-[05/10 20:43:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.620[deg]
-[05/10 20:43:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:43:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:43:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:44:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:45:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:45:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:45:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:45:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:45:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:45:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:45:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/10 20:46:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.509s, found feasible grasp: True
-[05/10 20:46:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]
-[05/10 20:46:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:46:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:46:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:46:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/10 20:46:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:46:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:46:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046823m
-[05/10 20:46:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:46:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:46:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0010862   0.13483183  0.04682255] yaw=153.4deg
-[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71867189  0.82499998  0.04682255] yaw=-150.1deg
-[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81371373  0.09959363  0.04682255] yaw=163.9deg
-[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:46:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:46:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.8ms, total=293.8ms
-[05/10 20:46:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.135, 0.047)
-[05/10 20:46:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg
-[05/10 20:46:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:46:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:46:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:46:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:46:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True
-[05/10 20:46:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.316[m] 89.345[deg]
-[05/10 20:46:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:46:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:47:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:47:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:47:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:47:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:47:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:47:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps
-[05/10 20:47:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.494s, found feasible grasp: True
-[05/10 20:47:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.384[deg]
-[05/10 20:47:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:47:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:47:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:47:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 20:47:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:47:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:47:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056367m
-[05/10 20:47:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:47:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:47:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:47:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85209503  1.04861758  0.05636708] yaw=-149.7deg
-[05/10 20:47:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:47:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00464532  0.87081111  0.05636708] yaw=-161.4deg
-[05/10 20:47:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:47:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9219073   0.61030998  0.05636708] yaw=-164.8deg
-[05/10 20:47:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:47:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:47:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms
-[05/10 20:47:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.049, 0.056)
-[05/10 20:47:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
-[05/10 20:47:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m
-[05/10 20:47:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:47:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:47:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:47:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:47:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:47:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 20:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 20:47:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:47:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:47:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 20:47:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
-[05/10 20:47:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.644[m] 94.824[deg]
-[05/10 20:47:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:49:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 20:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:49:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:49:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:49:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 20:49:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.470s, found feasible grasp: True
-[05/10 20:49:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.579[deg]
-[05/10 20:49:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:49:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:49:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:50:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
-[05/10 20:50:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=1.44s:
-  episode_total: mean=139.88s, total=419.65s, count=3, min=106986.1ms, max=165177.7ms
-  sensor_polling: mean=514.3ms, total=360.49s, count=701, min=440.7ms, max=817.5ms
-  physics_step: mean=25.4ms, total=17.84s, count=701, min=16.1ms, max=78.5ms
-  task_sampling: mean=481.2ms, total=1.44s, count=3, min=442.6ms, max=545.8ms
-  task_specific_sample: mean=477.5ms, total=1.43s, count=3, min=438.6ms, max=542.4ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.2ms
-  mj_forward_sync: mean=515.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=23.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 20:50:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:50:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:50:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 20:50:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:50:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:50:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040730m
-[05/10 20:50:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:50:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:50:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89180579  0.63198084  0.04073012] yaw=-162.3deg
-[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:50:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:50:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7621687   0.35418779  0.04073012] yaw=163.0deg
-[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03914093  0.8408638   0.04073012] yaw=-144.2deg
-[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:50:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:50:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms
-[05/10 20:50:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.632, 0.041)
-[05/10 20:50:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg
-[05/10 20:50:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:50:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:50:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:50:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 20:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 20:50:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:50:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:50:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 20:50:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True
-[05/10 20:50:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 87.704[deg]
-[05/10 20:50:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:53:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:53:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:53:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 20:53:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
-[05/10 20:54:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:54:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:54:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.72s (batch: 4.81s, save: 9.91s)
-[05/10 20:54:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
-  episode_total: mean=205.32s, total=205.32s, count=1, min=205324.3ms, max=205324.3ms
-  sensor_polling: mean=510.5ms, total=151.12s, count=296, min=446.0ms, max=842.5ms
-  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9906.6ms, max=9906.6ms
-  physics_step: mean=25.4ms, total=7.53s, count=296, min=18.3ms, max=80.5ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4810.0ms, max=4810.0ms
-  task_sampling: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms
-  task_specific_sample: mean=473.9ms, total=473.9ms, count=1, min=473.9ms, max=473.9ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=578.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 20:54:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:54:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:54:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:54:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/10 20:54:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:54:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:54:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046911m
-[05/10 20:54:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:54:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:54:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03536392  1.13132931  0.04691121] yaw=-126.3deg
-[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06883586  0.95956311  0.04691121] yaw=-144.1deg
-[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72163823  0.60130932  0.04691121] yaw=-178.8deg
-[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:54:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:54:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms
-[05/10 20:54:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.131, 0.047)
-[05/10 20:54:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg
-[05/10 20:54:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/10 20:54:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:54:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:54:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:54:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 20:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 20:54:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:54:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:54:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 20:54:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.851s, found feasible grasp: True
-[05/10 20:54:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 86.020[deg]
-[05/10 20:54:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 20:54:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:54:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:54:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 20:54:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:54:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:54:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m
-[05/10 20:54:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:54:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:54:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.50799336e-01  3.34986438e-01  4.73153184e-04] yaw=174.8deg
-[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.46457222e-01  1.06760212e-01  4.73153184e-04] yaw=151.4deg
-[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07956947e-01  9.32820431e-01  4.73153184e-04] yaw=-157.4deg
-[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:54:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:54:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=311.7ms, total=311.7ms
-[05/10 20:54:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.335, 0.000)
-[05/10 20:54:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg
-[05/10 20:54:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:54:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:54:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:54:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 20:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 20:54:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:54:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:54:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 20:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True
-[05/10 20:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.337[m] 94.904[deg]
-[05/10 20:54:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:54:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:54:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:55:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:55:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:55:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 20:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 20:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 20:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 20:55:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:55:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:55:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps
-[05/10 20:55:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True
-[05/10 20:55:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.580[deg]
-[05/10 20:55:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 20:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 20:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 20:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:56:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 20:57:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 20:57:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:57:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 20:57:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 20:58:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 20:58:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 20:58:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.00s (batch: 4.89s, save: 11.11s)
-[05/10 20:58:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.17s:
-  episode_total: mean=118.94s, total=237.87s, count=2, min=4011.8ms, max=233859.0ms
-  sensor_polling: mean=529.2ms, total=158.76s, count=300, min=452.6ms, max=946.7ms
-  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11107.9ms, max=11107.9ms
-  physics_step: mean=27.0ms, total=8.09s, count=300, min=15.1ms, max=109.1ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.6ms, max=4888.6ms
-  task_sampling: mean=583.2ms, total=1.17s, count=2, min=569.1ms, max=597.2ms
-  task_specific_sample: mean=579.6ms, total=1.16s, count=2, min=565.5ms, max=593.6ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
-  mj_forward_sync: mean=473.6us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 20:58:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 20:58:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:58:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 20:58:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 20:58:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 20:58:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058236m
-[05/10 20:58:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 20:58:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 20:58:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8177581   0.64753227  0.05823607] yaw=-180.5deg
-[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90228462  1.1897263   0.05823607] yaw=-142.9deg
-[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06716775  1.06635453  0.05823607] yaw=-126.6deg
-[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 20:58:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 20:58:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.4ms
-[05/10 20:58:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.648, 0.058)
-[05/10 20:58:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg
-[05/10 20:58:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 20:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 20:58:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 20:58:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 20:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 20:58:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 20:58:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 20:58:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 20:58:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/10 20:58:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.468[m] 92.401[deg]
-[05/10 20:58:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 20:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 20:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 20:58:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 20:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 20:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:01:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:01:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:01:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:01:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:01:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:01:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:01:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.09s (batch: 4.17s, save: 8.92s)
-[05/10 21:01:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
-  episode_total: mean=212.38s, total=212.38s, count=1, min=212377.7ms, max=212377.7ms
-  sensor_polling: mean=529.0ms, total=158.70s, count=300, min=448.9ms, max=1008.7ms
-  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.5ms, max=8919.5ms
-  physics_step: mean=27.6ms, total=8.28s, count=300, min=16.0ms, max=114.8ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.1ms, max=4172.1ms
-  task_sampling: mean=475.4ms, total=475.4ms, count=1, min=475.4ms, max=475.4ms
-  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:01:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:01:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 21:01:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:01:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:01:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053779m
-[05/10 21:01:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:01:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:01:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71426318  0.9031508   0.05377874] yaw=-160.2deg
-[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96256052  0.08776028  0.05377874] yaw=148.0deg
-[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75222253  0.66826684  0.05377874] yaw=-173.5deg
-[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:01:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:01:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms
-[05/10 21:01:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.903, 0.054)
-[05/10 21:01:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg
-[05/10 21:01:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:01:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 21:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:01:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:01:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:01:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 21:01:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.778s, found feasible grasp: True
-[05/10 21:01:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.653[m] 88.589[deg]
-[05/10 21:01:47 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:01:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:01:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 21:01:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:01:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:01:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m
-[05/10 21:01:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:01:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:01:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98872619  1.29691195  0.04028312] yaw=-136.1deg
-[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81060443  0.69824669  0.04028312] yaw=-176.0deg
-[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77912568  0.04698068  0.04028312] yaw=166.1deg
-[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:01:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:01:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms
-[05/10 21:01:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.297, 0.040)
-[05/10 21:01:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.1 deg
-[05/10 21:01:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:01:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 21:01:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
-[05/10 21:01:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:01:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:01:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:01:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: False
-[05/10 21:01:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 21:01:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:01:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/10 21:01:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:01:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:01:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029912m
-[05/10 21:01:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:01:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:01:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82666199  0.0457798   0.02991188] yaw=142.1deg
-[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00473511  1.14395742  0.02991188] yaw=-146.2deg
-[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92932902  0.73246732  0.02991188] yaw=-167.1deg
-[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:01:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:01:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms
-[05/10 21:01:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.046, 0.030)
-[05/10 21:01:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg
-[05/10 21:01:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:01:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:01:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 21:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 21:01:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:01:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:01:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 21:01:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
-[05/10 21:01:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.556[m] 87.567[deg]
-[05/10 21:01:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:04:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:05:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:05:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:05:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:05:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:05:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:05:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.49s (batch: 4.10s, save: 8.38s)
-[05/10 21:05:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.47s:
-  episode_total: mean=72.99s, total=218.97s, count=3, min=2323.8ms, max=211261.8ms
-  sensor_polling: mean=541.8ms, total=162.53s, count=300, min=452.3ms, max=1056.4ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8382.9ms, max=8382.9ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.6ms, max=112.0ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms
-  task_sampling: mean=489.8ms, total=1.47s, count=3, min=445.5ms, max=578.5ms
-  task_specific_sample: mean=486.5ms, total=1.46s, count=3, min=441.3ms, max=575.4ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=452.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 21:05:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:05:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:05:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 21:05:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:05:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:05:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072848m
-[05/10 21:05:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:05:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:05:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88153064  0.1341821   0.07284762] yaw=158.5deg
-[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72321941  0.94448097  0.07284762] yaw=-158.3deg
-[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76383359  0.44076633  0.07284762] yaw=170.8deg
-[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms
-[05/10 21:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.134, 0.073)
-[05/10 21:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg
-[05/10 21:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:05:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:05:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 21:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 21:05:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:05:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:05:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.063s, found feasible grasp: True
-[05/10 21:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.452[m] 91.162[deg]
-[05/10 21:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:06:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:06:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:07:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:07:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:07:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
-[05/10 21:07:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.008s, found feasible grasp: True
-[05/10 21:07:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.541[deg]
-[05/10 21:08:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:08:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:08:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:08:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:08:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps
-[05/10 21:08:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True
-[05/10 21:08:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.500[deg]
-[05/10 21:08:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:08:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:08:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:08:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:09:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:09:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:09:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:09:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:09:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:09:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:09:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.91s (batch: 5.11s, save: 10.81s)
-[05/10 21:09:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
-  episode_total: mean=257.86s, total=257.86s, count=1, min=257855.6ms, max=257855.6ms
-  sensor_polling: mean=542.6ms, total=162.78s, count=300, min=454.5ms, max=1055.2ms
-  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.1ms, max=10808.1ms
-  physics_step: mean=26.8ms, total=8.05s, count=300, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5105.8ms, max=5105.8ms
-  task_sampling: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms
-  task_specific_sample: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=409.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:09:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:09:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 21:09:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:09:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:09:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053661m
-[05/10 21:09:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:09:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:09:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82116156  0.33465716  0.05366126] yaw=177.5deg
-[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:09:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70464471  0.54473044  0.05366126] yaw=-179.9deg
-[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94714801  1.03460657  0.05366126] yaw=-144.1deg
-[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:09:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:09:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms
-[05/10 21:09:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.335, 0.054)
-[05/10 21:09:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg
-[05/10 21:09:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:09:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:09:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:09:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 21:09:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/10 21:09:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:09:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:09:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 21:09:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.501s, found feasible grasp: True
-[05/10 21:09:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.501[m] 95.190[deg]
-[05/10 21:09:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:10:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:12:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:12:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:12:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:12:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 21:12:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.471s, found feasible grasp: True
-[05/10 21:12:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.397[deg]
-[05/10 21:12:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:12:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:13:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:13:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:13:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:13:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:13:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:13:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.06s (batch: 4.38s, save: 11.68s)
-[05/10 21:13:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.3ms, max=223738.3ms
-  sensor_polling: mean=524.2ms, total=157.27s, count=300, min=434.9ms, max=939.9ms
-  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11679.5ms, max=11679.5ms
-  physics_step: mean=24.5ms, total=7.35s, count=300, min=15.8ms, max=115.3ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.1ms, max=4384.1ms
-  task_sampling: mean=430.1ms, total=430.1ms, count=1, min=430.1ms, max=430.1ms
-  task_specific_sample: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=588.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:13:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:13:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:13:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:13:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:13:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:13:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:13:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/10 21:13:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:13:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:13:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003857m
-[05/10 21:13:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:13:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:13:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73056655  0.94092386  0.00385735] yaw=-147.3deg
-[05/10 21:13:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:13:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:13:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms
-[05/10 21:13:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.941, 0.004)
-[05/10 21:13:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
-[05/10 21:13:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.075m
-[05/10 21:13:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:13:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:13:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:13:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:13:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 21:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 21:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 21:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.695s, found feasible grasp: True
-[05/10 21:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.649[m] 86.943[deg]
-[05/10 21:13:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:14:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:14:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:16:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:16:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:16:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:16:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:16:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:16:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.84s (batch: 4.33s, save: 8.50s)
-[05/10 21:16:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=204.80s, total=204.80s, count=1, min=204796.6ms, max=204796.6ms
-  sensor_polling: mean=506.9ms, total=152.07s, count=300, min=437.6ms, max=856.8ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8504.7ms, max=8504.7ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=14.8ms, max=83.6ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.9ms, max=4331.9ms
-  task_sampling: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
-  task_specific_sample: mean=509.8ms, total=509.8ms, count=1, min=509.8ms, max=509.8ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=582.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:16:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:16:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/10 21:16:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:16:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:16:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065755m
-[05/10 21:16:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:16:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:16:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:16:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6911446   0.43817937  0.0657553 ] yaw=169.1deg
-[05/10 21:16:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97721703  1.07370394  0.0657553 ] yaw=-147.6deg
-[05/10 21:16:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:16:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:16:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms
-[05/10 21:16:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.438, 0.066)
-[05/10 21:16:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg
-[05/10 21:16:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:16:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 21:16:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 21:16:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:16:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:16:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:16:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True
-[05/10 21:16:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.566[m] 91.174[deg]
-[05/10 21:16:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:19:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:20:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:20:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:20:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:20:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:20:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:20:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.37s, save: 9.14s)
-[05/10 21:20:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.89s, total=207.89s, count=1, min=207891.6ms, max=207891.6ms
-  sensor_polling: mean=514.3ms, total=154.29s, count=300, min=442.7ms, max=1090.4ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.4ms, max=9142.4ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.5ms, max=74.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.7ms, max=4366.7ms
-  task_sampling: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
-  task_specific_sample: mean=468.3ms, total=468.3ms, count=1, min=468.3ms, max=468.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:20:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:20:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:20:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:20:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/10 21:20:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:20:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:20:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004559m
-[05/10 21:20:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:20:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:20:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99042119  0.14648002  0.00455889] yaw=166.1deg
-[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88709121  0.41426274  0.00455889] yaw=185.2deg
-[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92005349  0.78006857  0.00455889] yaw=-162.4deg
-[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:20:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:20:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=562.0ms, total=562.0ms
-[05/10 21:20:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.146, 0.005)
-[05/10 21:20:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
-[05/10 21:20:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
-[05/10 21:20:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:20:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:20:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:20:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:20:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:20:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 21:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
-[05/10 21:20:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:20:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:20:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 21:20:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True
-[05/10 21:20:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.419[m] 96.458[deg]
-[05/10 21:20:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:21:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:22:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:22:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:22:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:22:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:22:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:22:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
-[05/10 21:22:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.471s, found feasible grasp: True
-[05/10 21:22:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.233[deg]
-[05/10 21:22:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:22:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:22:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:23:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:23:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:23:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
-[05/10 21:23:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.232s, found feasible grasp: True
-[05/10 21:23:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.977[deg]
-[05/10 21:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:24:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:24:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:24:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:24:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:24:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:24:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:24:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.58s (batch: 4.11s, save: 8.47s)
-[05/10 21:24:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.92s:
-  episode_total: mean=252.54s, total=252.54s, count=1, min=252544.9ms, max=252544.9ms
-  sensor_polling: mean=544.9ms, total=163.46s, count=300, min=465.5ms, max=933.8ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.1ms, max=8466.1ms
-  physics_step: mean=25.0ms, total=7.51s, count=300, min=14.1ms, max=117.0ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.7ms, max=4109.7ms
-  task_sampling: mean=920.1ms, total=920.1ms, count=1, min=920.1ms, max=920.1ms
-  task_specific_sample: mean=915.3ms, total=915.3ms, count=1, min=915.3ms, max=915.3ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=627.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:24:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:24:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 21:24:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:24:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:24:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033862m
-[05/10 21:24:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:24:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:24:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82227541  0.0145964   0.03386198] yaw=142.1deg
-[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02370475  0.15953073  0.03386198] yaw=164.7deg
-[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9268626   0.21723471  0.03386198] yaw=171.1deg
-[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:24:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:24:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms
-[05/10 21:24:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.015, 0.034)
-[05/10 21:24:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg
-[05/10 21:24:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:24:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:24:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 21:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
-[05/10 21:24:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:24:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:24:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 21:24:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True
-[05/10 21:24:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.558[m] 88.230[deg]
-[05/10 21:24:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:27:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:27:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:27:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:27:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:28:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:28:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:28:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.73s (batch: 4.08s, save: 8.65s)
-[05/10 21:28:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
-  episode_total: mean=208.57s, total=208.57s, count=1, min=208566.2ms, max=208566.2ms
-  sensor_polling: mean=532.7ms, total=159.81s, count=300, min=454.9ms, max=1153.9ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
-  physics_step: mean=25.6ms, total=7.67s, count=300, min=16.2ms, max=106.5ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4080.2ms, max=4080.2ms
-  task_sampling: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms
-  task_specific_sample: mean=481.6ms, total=481.6ms, count=1, min=481.6ms, max=481.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:28:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:28:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:28:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 21:28:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:28:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:28:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005746m
-[05/10 21:28:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:28:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:28:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84897735  1.0608889   0.00574605] yaw=-134.6deg
-[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95961722  0.64166377  0.00574605] yaw=-162.0deg
-[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:28:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01551301  0.96174227  0.00574605] yaw=-138.0deg
-[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:28:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:28:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.4ms
-[05/10 21:28:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.061, 0.006)
-[05/10 21:28:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg
-[05/10 21:28:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:28:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:28:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:28:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 21:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 21:28:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:28:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:28:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:28:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.888s, found feasible grasp: True
-[05/10 21:28:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.603[m] 90.810[deg]
-[05/10 21:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:29:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:29:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:31:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:31:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:31:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
-[05/10 21:31:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:31:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:31:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
-[05/10 21:31:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.01s (batch: 4.04s, save: 7.97s)
-[05/10 21:31:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
-  episode_total: mean=208.25s, total=208.25s, count=1, min=208251.4ms, max=208251.4ms
-  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=447.4ms, max=1022.5ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.2ms, max=7970.2ms
-  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.2ms, max=92.2ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.6ms, max=4040.6ms
-  task_sampling: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
-  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:31:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:31:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
-[05/10 21:31:43 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/10 21:31:43 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5650.04s
-  House averages:
-  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
-  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
-  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
-  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
-  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
-  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:31:43 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 21:31:43 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5650.04s
-  Worker averages:
-  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
-  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
-  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
-  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
-  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
-  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
-  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
-  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
-  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
-  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
-  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
-  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
-  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
-  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
-  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
-  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
-  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 21:31:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 21:31:45 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/10 21:31:45 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
-==========================================
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-05/10 21:37:46 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 21:37:46 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 21:37:46 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 21:37:46 INFO: {'batch_num': 4,
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-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70530fda5250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20904,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 21:37:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 21:37:46 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 21:37:46 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 21:37:46 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 21:37:46 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 21:37:46 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 21:37:46 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7fb4054f9350>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20902,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 21:37:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 21:37:46 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 21:37:46 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 21:37:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 21:37:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 21:37:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 21:37:47 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70005e32c250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20903,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 21:37:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 21:37:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 21:37:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 21:37:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 21:37:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 21:37:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 21:37:47 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7651505da210>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20901,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 21:37:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 21:37:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 21:37:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 21:37:48 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078143m	[env.py: 870]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69840958  0.69742673  0.07814342] yaw=-166.3deg	[env.py: 1019]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87865762  0.32680021  0.07814342] yaw=159.1deg	[env.py: 1019]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77659807  0.24852128  0.07814342] yaw=168.0deg	[env.py: 1019]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.9ms, retries=217.3ms, total=230.1ms	[env.py: 1075]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.697, 0.078)	[env.py: 1079]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013058m	[env.py: 870]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096752m	[env.py: 870]
-05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:37:51 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 21:37:51 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:37:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:37:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:37:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:37:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:37:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054552m	[env.py: 870]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:37:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88367914  0.82637319  0.09675237] yaw=-157.1deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78555103  0.71418601  0.09675237] yaw=-177.1deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70194614  0.65822738  0.01305819] yaw=-161.9deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86616667  0.39236449  0.09675237] yaw=172.3deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=130.7ms, total=175.2ms	[env.py: 1075]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.826, 0.097)	[env.py: 1079]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.945628    0.32045988  0.01305819] yaw=170.1deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=63.3ms, retries=215.3ms, total=278.6ms	[env.py: 1075]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.658, 0.013)	[env.py: 1079]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79603452  1.07200904  0.05455197] yaw=-145.2deg	[env.py: 1019]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=70.5ms, retries=340.5ms, total=411.0ms	[env.py: 1075]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 1.072, 0.055)	[env.py: 1079]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
-05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 28.556s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 29.017s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:38:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:38:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 78.512[deg]	[grasp_sample.py: 539]
-05/10 21:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 29.973s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:38:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:38:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 87.428[deg]	[grasp_sample.py: 539]
-05/10 21:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 29.894s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:38:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 81.815[deg]	[grasp_sample.py: 539]
-05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:38:24 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.668[m] 96.278[deg]	[grasp_sample.py: 539]
-05/10 21:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:38:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054501m	[env.py: 870]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7650731   0.29964744  0.05450054] yaw=159.7deg	[env.py: 1019]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80220069  1.02787749  0.05450054] yaw=-145.5deg	[env.py: 1019]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=369.0ms, total=369.0ms	[env.py: 1075]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.300, 0.055)	[env.py: 1079]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
-05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:38:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:38:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:38:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:38:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:38:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:38:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:38:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.506[m] 84.258[deg]	[grasp_sample.py: 539]
-05/10 21:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:39:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:39:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:39:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:39:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:39:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:41:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:41:09 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:41:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:41:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:41:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:41:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:41:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:41:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:41:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:41:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:41:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:41:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:41:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:41:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:41:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:41:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.67s (batch: 4.39s, save: 8.28s)	[pipeline.py: 300]
-05/10 21:41:42 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.62s:
-  episode_total: mean=235.16s, total=235.16s, count=1, min=235156.8ms, max=235156.8ms
-  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=436.3ms, max=880.3ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8276.1ms, max=8276.1ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.8ms, max=68.0ms
-  task_sampling: mean=4.62s, total=4.62s, count=1, min=4624.7ms, max=4624.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.4ms, max=4390.4ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  task_specific_sample: mean=633.0ms, total=633.0ms, count=1, min=633.0ms, max=633.0ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=55.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/10 21:41:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:41:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:41:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.79s (batch: 4.21s, save: 8.59s)	[pipeline.py: 300]
-05/10 21:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:41:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:41:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:41:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:41:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058285m	[env.py: 870]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80242508  0.29248231  0.05828515] yaw=164.4deg	[env.py: 1019]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89481798  0.31285414  0.05828515] yaw=174.5deg	[env.py: 1019]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97862955  0.92767845  0.05828515] yaw=-145.9deg	[env.py: 1019]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms	[env.py: 1075]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.292, 0.058)	[env.py: 1079]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
-05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:44 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
-  episode_total: mean=236.22s, total=236.22s, count=1, min=236223.9ms, max=236223.9ms
-  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=447.7ms, max=1051.1ms
-  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.1ms, max=8586.1ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=18.6ms, max=70.6ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.1ms, max=4208.1ms
-  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.2ms, max=3508.2ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  task_specific_sample: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=913.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:41:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:41:44 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:41:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:41:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:41:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:41:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.475[m] 96.364[deg]	[grasp_sample.py: 539]
-05/10 21:41:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:41:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:41:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.26s (batch: 4.64s, save: 8.62s)	[pipeline.py: 300]
-05/10 21:41:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:41:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:41:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040138m	[env.py: 870]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:41:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92959355  0.48000957  0.04013848] yaw=190.2deg	[env.py: 1019]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85333759  0.44740435  0.04013848] yaw=170.6deg	[env.py: 1019]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04978676  1.11991253  0.04013848] yaw=-131.8deg	[env.py: 1019]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms	[env.py: 1075]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.480, 0.040)	[env.py: 1079]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.2 deg	[env.py: 1082]
-05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:41:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:41:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:41:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:41:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:41:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:41:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.87s:
-  episode_total: mean=239.90s, total=239.90s, count=1, min=239904.3ms, max=239904.3ms
-  sensor_polling: mean=524.9ms, total=157.46s, count=300, min=446.6ms, max=861.5ms
-  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8616.6ms, max=8616.6ms
-  physics_step: mean=27.1ms, total=8.14s, count=300, min=15.5ms, max=101.6ms
-  task_sampling: mean=4.87s, total=4.87s, count=1, min=4874.2ms, max=4874.2ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.3ms, max=4642.3ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  task_specific_sample: mean=781.5ms, total=781.5ms, count=1, min=781.5ms, max=781.5ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=391.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/10 21:41:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:41:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 87.589[deg]	[grasp_sample.py: 539]
-05/10 21:41:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:41:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:41:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:41:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:41:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015438m	[env.py: 870]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75043123  0.69790588  0.01543775] yaw=-171.6deg	[env.py: 1019]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78708884  0.84564956  0.01543775] yaw=-147.3deg	[env.py: 1019]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79430639  0.98150733  0.01543775] yaw=-149.7deg	[env.py: 1019]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms	[env.py: 1075]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.698, 0.015)	[env.py: 1079]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
-05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:41:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:41:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:41:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:41:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:41:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:41:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:41:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:41:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 90.670[deg]	[grasp_sample.py: 539]
-05/10 21:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:41:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:41:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:41:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:42:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:42:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:42:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.21s (batch: 4.32s, save: 8.89s)	[pipeline.py: 300]
-05/10 21:42:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.97s:
-  episode_total: mean=129.10s, total=258.20s, count=2, min=38271.6ms, max=219925.7ms
-  sensor_polling: mean=518.5ms, total=155.54s, count=300, min=438.0ms, max=898.1ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8893.6ms, max=8893.6ms
-  physics_step: mean=27.2ms, total=8.17s, count=300, min=17.6ms, max=132.8ms
-  task_sampling: mean=2.49s, total=4.97s, count=2, min=665.8ms, max=4308.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.8ms, max=4318.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  task_specific_sample: mean=680.3ms, total=1.36s, count=2, min=662.8ms, max=697.9ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  mj_forward_sync: mean=2.4ms, total=4.8ms, count=2, min=0.5ms, max=4.3ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.6ms, max=2.0ms
-  policy_setup: mean=28.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:42:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:42:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:42:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:42:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:42:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:42:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:42:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025446m	[env.py: 870]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:42:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01048895  1.04469853  0.02544591] yaw=-132.3deg	[env.py: 1019]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:42:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.8ms	[env.py: 1075]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.045, 0.025)	[env.py: 1079]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.3 deg	[env.py: 1082]
-05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:42:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:42:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:42:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:42:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:42:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:42:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 94.194[deg]	[grasp_sample.py: 539]
-05/10 21:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:42:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:42:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:42:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:42:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:42:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:43:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:43:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:43:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:43:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:43:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:43:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:43:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:43:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:43:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.452[deg]	[grasp_sample.py: 539]
-05/10 21:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:43:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:43:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:43:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:43:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:44:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:44:21 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:44:31 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:44:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:44:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:42 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:44:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:44:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:44:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:44:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:44:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:44:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:44:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.809s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:44:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.792[deg]	[grasp_sample.py: 539]
-05/10 21:44:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:44:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:44:53 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:44:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:44:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:44:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.41s (batch: 4.30s, save: 9.10s)	[pipeline.py: 300]
-05/10 21:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:44:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:44:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008906m	[env.py: 870]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76329688  0.38370386  0.00890552] yaw=165.4deg	[env.py: 1019]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86119877  0.39958689  0.00890552] yaw=167.5deg	[env.py: 1019]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84878388  0.53032765  0.00890552] yaw=-165.4deg	[env.py: 1019]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms	[env.py: 1075]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.384, 0.009)	[env.py: 1079]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
-05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:55 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.51s:
-  episode_total: mean=191.47s, total=191.47s, count=1, min=191470.9ms, max=191470.9ms
-  sensor_polling: mean=478.1ms, total=143.44s, count=300, min=441.9ms, max=769.2ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.7ms, max=9101.7ms
-  physics_step: mean=22.9ms, total=6.86s, count=300, min=14.5ms, max=35.1ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.2ms, max=4304.2ms
-  task_sampling: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
-  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=393.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:44:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:44:55 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:44:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:44:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:44:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:44:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:44:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:44:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:44:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.89s (batch: 4.03s, save: 8.86s)	[pipeline.py: 300]
-05/10 21:44:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:44:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.478[m] 89.704[deg]	[grasp_sample.py: 539]
-05/10 21:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:44:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:44:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:44:56 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=188.47s, total=188.47s, count=1, min=188470.5ms, max=188470.5ms
-  sensor_polling: mean=478.0ms, total=143.41s, count=300, min=439.1ms, max=677.6ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8861.5ms, max=8861.5ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.6ms, max=31.6ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4026.4ms, max=4026.4ms
-  task_sampling: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms
-  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=437.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:44:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:44:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068393m	[env.py: 870]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70968768  0.74786147  0.06839309] yaw=-157.7deg	[env.py: 1019]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179878  1.00818012  0.06839309] yaw=-147.2deg	[env.py: 1019]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77158331  0.43589665  0.06839309] yaw=187.6deg	[env.py: 1019]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.4ms	[env.py: 1075]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.748, 0.068)	[env.py: 1079]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
-05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
-05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:44:57 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:44:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:44:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:44:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:44:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 84.882[deg]	[grasp_sample.py: 539]
-05/10 21:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:44:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:44:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:44:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:44:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:44:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:44:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093064m	[env.py: 870]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:44:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91776501  0.79851926  0.09306394] yaw=-154.2deg	[env.py: 1019]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95180662  0.076947    0.09306394] yaw=160.7deg	[env.py: 1019]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96905711  0.74109691  0.09306394] yaw=-152.1deg	[env.py: 1019]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:44:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms	[env.py: 1075]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.799, 0.093)	[env.py: 1079]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
-05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:44:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:44:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:44:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:44:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:44:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:44:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:44:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:44:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 78.115[deg]	[grasp_sample.py: 539]
-05/10 21:44:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:44:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:44:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:45:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:45:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.47s (batch: 4.36s, save: 9.11s)	[pipeline.py: 300]
-05/10 21:45:06 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=200.65s, total=200.65s, count=1, min=200645.7ms, max=200645.7ms
-  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=459.1ms, max=723.9ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9111.5ms, max=9111.5ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=15.6ms, max=54.9ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.8ms, max=4357.8ms
-  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  task_specific_sample: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=426.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:45:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:45:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:45:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098763m	[env.py: 870]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8174192   0.54966417  0.09876346] yaw=-167.1deg	[env.py: 1019]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84673044  0.86195046  0.09876346] yaw=-150.9deg	[env.py: 1019]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85788473  0.94650947  0.09876346] yaw=-148.0deg	[env.py: 1019]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.3ms, total=185.3ms	[env.py: 1075]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.550, 0.099)	[env.py: 1079]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg	[env.py: 1082]
-05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:45:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:45:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:45:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:45:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:45:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:45:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:45:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:45:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 97.656[deg]	[grasp_sample.py: 539]
-05/10 21:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:45:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:45:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:45:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:45:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:45:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:46:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:46:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:46:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:46:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:47:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:47:29 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:47:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:47:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:47:51 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:47:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:47:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:47:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:47:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:47:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:47:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:47:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:47:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:48:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:48:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:48:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.00s (batch: 4.46s, save: 8.54s)	[pipeline.py: 300]
-05/10 21:48:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:48:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:48:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:48:05 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=188.83s, total=188.83s, count=1, min=188833.0ms, max=188833.0ms
-  sensor_polling: mean=475.0ms, total=142.51s, count=300, min=440.0ms, max=672.3ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8540.0ms, max=8540.0ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=18.3ms, max=29.2ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.9ms, max=4462.9ms
-  task_sampling: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
-  task_specific_sample: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:48:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:48:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:48:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.55s (batch: 4.49s, save: 8.05s)	[pipeline.py: 300]
-05/10 21:48:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
-  episode_total: mean=177.72s, total=355.43s, count=2, min=163970.0ms, max=191461.8ms
-  sensor_polling: mean=477.6ms, total=285.62s, count=598, min=438.9ms, max=694.4ms
-  physics_step: mean=23.2ms, total=13.84s, count=598, min=15.6ms, max=37.2ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8051.1ms, max=8051.1ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.3ms, max=4494.3ms
-  task_sampling: mean=529.6ms, total=1.06s, count=2, min=458.8ms, max=600.4ms
-  task_specific_sample: mean=526.1ms, total=1.05s, count=2, min=455.7ms, max=596.6ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=412.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:48:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.80s (batch: 4.20s, save: 8.60s)	[pipeline.py: 300]
-05/10 21:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:48:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:48:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052779m	[env.py: 870]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01494016  0.93107802  0.05277918] yaw=-138.4deg	[env.py: 1019]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76951487  0.58651569  0.05277918] yaw=-180.5deg	[env.py: 1019]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90276789  0.53772231  0.05277918] yaw=-169.1deg	[env.py: 1019]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms	[env.py: 1075]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.931, 0.053)	[env.py: 1079]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
-05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:48:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:48:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:48:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:48:07 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=189.68s, total=189.68s, count=1, min=189677.6ms, max=189677.6ms
-  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=448.9ms, max=648.9ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8602.3ms, max=8602.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=32.0ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.1ms, max=4201.1ms
-  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  task_specific_sample: mean=438.9ms, total=438.9ms, count=1, min=438.9ms, max=438.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=417.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:48:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:48:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:48:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:48:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:48:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:48:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092207m	[env.py: 870]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:48:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77076065  0.53505719  0.09220746] yaw=-183.7deg	[env.py: 1019]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64079981  0.3326261   0.09220746] yaw=182.6deg	[env.py: 1019]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8451624   0.41295116  0.09220746] yaw=166.3deg	[env.py: 1019]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.6ms	[env.py: 1075]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.535, 0.092)	[env.py: 1079]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg	[env.py: 1082]
-05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:48:08 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:48:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:48:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:48:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:48:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.710[deg]	[grasp_sample.py: 539]
-05/10 21:48:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:48:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:48:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.506[m] 92.316[deg]	[grasp_sample.py: 539]
-05/10 21:48:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:48:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:48:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:48:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:48:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:48:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:48:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034244m	[env.py: 870]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88634209  1.19415786  0.0342438 ] yaw=-130.6deg	[env.py: 1019]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86882266  0.49060402  0.0342438 ] yaw=-183.1deg	[env.py: 1019]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71313064  0.78462643  0.0342438 ] yaw=-171.0deg	[env.py: 1019]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.194, 0.034)	[env.py: 1079]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg	[env.py: 1082]
-05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:48:10 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:48:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:48:13 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.694[m] 150.155[deg]	[grasp_sample.py: 539]
-05/10 21:48:15 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:48:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:48:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:48:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:48:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:48:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:48:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087990m	[env.py: 870]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:48:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69499776  0.17550579  0.0879901 ] yaw=169.8deg	[env.py: 1019]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90088262  0.96672289  0.0879901 ] yaw=-150.9deg	[env.py: 1019]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:48:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.2ms, total=408.3ms	[env.py: 1075]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.176, 0.088)	[env.py: 1079]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:48:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:48:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:48:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:48:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:48:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.32s (batch: 4.42s, save: 9.89s)	[pipeline.py: 300]
-05/10 21:48:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
-  episode_total: mean=191.90s, total=191.90s, count=1, min=191900.9ms, max=191900.9ms
-  sensor_polling: mean=483.6ms, total=145.08s, count=300, min=442.8ms, max=652.1ms
-  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9893.8ms, max=9893.8ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=35.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4423.2ms, max=4423.2ms
-  task_sampling: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms
-  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=495.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:48:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.714s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:48:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.642[m] 99.184[deg]	[grasp_sample.py: 539]
-05/10 21:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:48:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:48:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004371m	[env.py: 870]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94898013  0.3890341   0.00437123] yaw=180.9deg	[env.py: 1019]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95540073  1.06488743  0.00437123] yaw=-142.6deg	[env.py: 1019]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81399103  0.06148873  0.00437123] yaw=162.9deg	[env.py: 1019]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=247.0ms, total=247.0ms	[env.py: 1075]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.389, 0.004)	[env.py: 1079]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg	[env.py: 1082]
-05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:48:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:48:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:48:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:48:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:48:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:48:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 90.054[deg]	[grasp_sample.py: 539]
-05/10 21:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:48:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:48:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:48:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:49:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:49:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:49:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:50:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:50:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:50:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:50:12 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.538[deg]	[grasp_sample.py: 539]
-05/10 21:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:50:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:50:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:50:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:50:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:50:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:51:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:51:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:51:19 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 21:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:51:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:51:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:51:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:51:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:51:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.945s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:51:29 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.030[deg]	[grasp_sample.py: 539]
-05/10 21:51:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:51:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:51:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:51:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:51:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:51:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.01s (batch: 4.16s, save: 10.85s)	[pipeline.py: 300]
-05/10 21:51:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
-  episode_total: mean=207.69s, total=207.69s, count=1, min=207686.4ms, max=207686.4ms
-  sensor_polling: mean=528.6ms, total=158.06s, count=299, min=445.2ms, max=954.9ms
-  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.7ms, max=10850.7ms
-  physics_step: mean=25.8ms, total=7.73s, count=299, min=14.9ms, max=82.4ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.8ms, max=4157.8ms
-  task_sampling: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
-  task_specific_sample: mean=493.5ms, total=493.5ms, count=1, min=493.5ms, max=493.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:51:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:51:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:51:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012628m	[env.py: 870]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67366714  0.639719    0.01262768] yaw=-168.5deg	[env.py: 1019]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97139325  1.04592761  0.01262768] yaw=-140.9deg	[env.py: 1019]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.640, 0.013)	[env.py: 1079]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
-05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:51:37 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:51:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:51:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:51:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 97.840[deg]	[grasp_sample.py: 539]
-05/10 21:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:51:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:51:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.86s (batch: 4.78s, save: 10.08s)	[pipeline.py: 300]
-05/10 21:51:39 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
-  episode_total: mean=211.96s, total=211.96s, count=1, min=211961.4ms, max=211961.4ms
-  sensor_polling: mean=533.3ms, total=159.98s, count=300, min=451.7ms, max=1190.4ms
-  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.2ms, max=10080.2ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=18.7ms, max=85.7ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.6ms, max=4782.6ms
-  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  task_specific_sample: mean=417.4ms, total=417.4ms, count=1, min=417.4ms, max=417.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=483.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:51:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:51:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:51:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:51:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024102m	[env.py: 870]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90652377  0.50358754  0.02410204] yaw=-188.7deg	[env.py: 1019]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11372555  1.06333028  0.02410204] yaw=-132.3deg	[env.py: 1019]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73617596  0.69003352  0.02410204] yaw=-167.5deg	[env.py: 1019]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:51:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.1ms	[env.py: 1075]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.504, 0.024)	[env.py: 1079]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg	[env.py: 1082]
-05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:51:42 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:51:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:51:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:51:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 98.542[deg]	[grasp_sample.py: 539]
-05/10 21:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:51:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:51:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:51:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:51:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:51:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:51:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.16s (batch: 4.52s, save: 10.64s)	[pipeline.py: 300]
-05/10 21:51:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.55s:
-  episode_total: mean=112.71s, total=225.42s, count=2, min=5704.2ms, max=219714.9ms
-  sensor_polling: mean=532.5ms, total=159.75s, count=300, min=447.9ms, max=946.3ms
-  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10641.7ms, max=10641.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.2ms, max=67.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
-  task_sampling: mean=776.7ms, total=1.55s, count=2, min=462.1ms, max=1091.2ms
-  task_specific_sample: mean=772.4ms, total=1.54s, count=2, min=458.2ms, max=1086.7ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.4ms, max=2.6ms
-  mj_forward_sync: mean=511.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:51:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:51:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035366m	[env.py: 870]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93188653  0.83490741  0.0353662 ] yaw=-163.1deg	[env.py: 1019]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93459396  0.36402371  0.0353662 ] yaw=180.7deg	[env.py: 1019]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84979214  0.93176366  0.0353662 ] yaw=-159.3deg	[env.py: 1019]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.2ms, total=396.2ms	[env.py: 1075]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.835, 0.035)	[env.py: 1079]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.1 deg	[env.py: 1082]
-05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:51:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:51:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:52:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:52:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:52:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:52:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 91.727[deg]	[grasp_sample.py: 539]
-05/10 21:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:52:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:52:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:52:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:52:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:52:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:52:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:52:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:52:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.79s (batch: 4.51s, save: 9.28s)	[pipeline.py: 300]
-05/10 21:52:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=243.26s, total=243.26s, count=1, min=243262.4ms, max=243262.4ms
-  sensor_polling: mean=528.7ms, total=158.60s, count=300, min=443.1ms, max=1119.9ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.6ms, max=9275.6ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=15.6ms, max=84.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.5ms, max=4511.5ms
-  task_sampling: mean=555.9ms, total=555.9ms, count=1, min=555.9ms, max=555.9ms
-  task_specific_sample: mean=550.7ms, total=550.7ms, count=1, min=550.7ms, max=550.7ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:52:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:52:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048621m	[env.py: 870]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95882386  0.21642087  0.04862074] yaw=156.4deg	[env.py: 1019]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99711966  0.1160793   0.04862074] yaw=154.3deg	[env.py: 1019]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79345937  0.05295096  0.04862074] yaw=147.5deg	[env.py: 1019]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms	[env.py: 1075]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.216, 0.049)	[env.py: 1079]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg	[env.py: 1082]
-05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:52:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:52:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:52:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:52:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.337[m] 82.136[deg]	[grasp_sample.py: 539]
-05/10 21:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:52:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:52:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:52:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:52:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:53:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:53:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:53:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:53:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:53:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:53:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:53:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:54:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:54:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:54:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:54:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:54:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:54:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.112[deg]	[grasp_sample.py: 539]
-05/10 21:54:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:54:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:54:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:54:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 21:54:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:54:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:54:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:54:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.183[deg]	[grasp_sample.py: 539]
-05/10 21:54:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:54:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:54:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:54:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:54:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:54:47 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:54:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:54:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:55:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:55:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:55:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:55:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.53s (batch: 4.39s, save: 9.14s)	[pipeline.py: 300]
-05/10 21:55:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:04 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
-  episode_total: mean=207.91s, total=207.91s, count=1, min=207907.9ms, max=207907.9ms
-  sensor_polling: mean=527.1ms, total=158.14s, count=300, min=439.9ms, max=1075.6ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.7ms, max=9144.7ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=17.6ms, max=92.1ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.1ms, max=4386.1ms
-  task_sampling: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
-  task_specific_sample: mean=506.6ms, total=506.6ms, count=1, min=506.6ms, max=506.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:55:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:55:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m	[env.py: 870]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90144487  0.55648879  0.03404549] yaw=-167.8deg	[env.py: 1019]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01136806  0.86071748  0.03404549] yaw=-148.9deg	[env.py: 1019]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.0ms, total=229.1ms	[env.py: 1075]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.556, 0.034)	[env.py: 1079]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
-05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:55:06 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:55:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:55:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 80.358[deg]	[grasp_sample.py: 539]
-05/10 21:55:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:55:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:55:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 21:55:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:55:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:55:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:55:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:55:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:55:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:55:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:55:13 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.772[deg]	[grasp_sample.py: 539]
-05/10 21:55:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:55:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:55:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.59s (batch: 4.36s, save: 11.23s)	[pipeline.py: 300]
-05/10 21:55:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
-  episode_total: mean=214.60s, total=214.60s, count=1, min=214599.2ms, max=214599.2ms
-  sensor_polling: mean=530.0ms, total=159.00s, count=300, min=444.3ms, max=951.1ms
-  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11228.7ms, max=11228.7ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.0ms, max=94.2ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.2ms, max=4363.2ms
-  task_sampling: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms
-  task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:55:16 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:55:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:55:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:55:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:55:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:55:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:55:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083523m	[env.py: 870]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:55:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70724624  0.43532496  0.08352347] yaw=169.8deg	[env.py: 1019]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02463451  1.15756238  0.08352347] yaw=-128.3deg	[env.py: 1019]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00654317  0.10379094  0.08352347] yaw=146.7deg	[env.py: 1019]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:55:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=625.1ms, total=625.2ms	[env.py: 1075]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.435, 0.084)	[env.py: 1079]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:55:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:55:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:55:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:55:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:55:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m	[env.py: 870]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:55:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70739797  0.61021926  0.0286643 ] yaw=-175.3deg	[env.py: 1019]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82686771  0.30506055  0.0286643 ] yaw=178.5deg	[env.py: 1019]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:55:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.197s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8239495   0.05751726  0.0286643 ] yaw=147.2deg	[env.py: 1019]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=452.1ms, total=452.2ms	[env.py: 1075]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.610, 0.029)	[env.py: 1079]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.3 deg	[env.py: 1082]
-05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:55:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:55:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:55:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:55:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:55:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:55:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.521[m] 81.239[deg]	[grasp_sample.py: 539]
-05/10 21:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.355s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:55:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 92.806[deg]	[grasp_sample.py: 539]
-05/10 21:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:55:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:55:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:55:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:55:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:55:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:55:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:55:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 17.09s (batch: 5.57s, save: 11.52s)	[pipeline.py: 300]
-05/10 21:55:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.73s:
-  episode_total: mean=208.25s, total=208.25s, count=1, min=208246.2ms, max=208246.2ms
-  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=437.0ms, max=797.7ms
-  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.5ms, max=11522.5ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.0ms, max=92.3ms
-  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5570.9ms, max=5570.9ms
-  task_sampling: mean=733.1ms, total=733.1ms, count=1, min=733.1ms, max=733.1ms
-  task_specific_sample: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:55:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:55:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074261m	[env.py: 870]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99003319  0.15016147  0.07426136] yaw=163.1deg	[env.py: 1019]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86637152  0.33454528  0.07426136] yaw=179.9deg	[env.py: 1019]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74804582  0.59796571  0.07426136] yaw=-175.6deg	[env.py: 1019]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.2ms	[env.py: 1075]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.150, 0.074)	[env.py: 1079]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
-05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:55:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:55:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:55:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:55:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:55:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:55:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.350[m] 83.647[deg]	[grasp_sample.py: 539]
-05/10 21:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:55:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:55:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:55:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:55:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:56:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:56:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:56:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:56:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:56:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:57:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:57:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:57:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:57:18 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.350[deg]	[grasp_sample.py: 539]
-05/10 21:57:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:57:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:57:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:57:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:57:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:57:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:57:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:05 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:58:06 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 21:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:58:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 21:58:11 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 21:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 21:58:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 21:58:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 21:58:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:58:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:58:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:58:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.600s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:58:19 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.850[deg]	[grasp_sample.py: 539]
-05/10 21:58:20 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 21:58:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:58:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:58:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:58:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:58:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:58:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039761m	[env.py: 870]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:58:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6706696   0.27095008  0.03976099] yaw=157.3deg	[env.py: 1019]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76062706  0.34917922  0.03976099] yaw=167.1deg	[env.py: 1019]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60850849  0.40887708  0.03976099] yaw=175.7deg	[env.py: 1019]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:58:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.0ms, total=114.0ms	[env.py: 1075]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.271, 0.040)	[env.py: 1079]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
-05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:58:22 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:58:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:58:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:58:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:58:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:58:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:58:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 86.067[deg]	[grasp_sample.py: 539]
-05/10 21:58:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:58:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:58:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:58:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.87s (batch: 4.16s, save: 9.72s)	[pipeline.py: 300]
-05/10 21:58:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=200.29s, total=200.29s, count=1, min=200288.8ms, max=200288.8ms
-  sensor_polling: mean=522.4ms, total=150.97s, count=289, min=444.7ms, max=1019.5ms
-  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.4ms, max=9716.4ms
-  physics_step: mean=24.3ms, total=7.01s, count=289, min=15.6ms, max=117.9ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.4ms, max=4158.4ms
-  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
-  task_specific_sample: mean=585.3ms, total=585.3ms, count=1, min=585.3ms, max=585.3ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=707.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:58:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:58:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:58:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:58:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037727m	[env.py: 870]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:58:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75472367  0.15853611  0.03772694] yaw=169.7deg	[env.py: 1019]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88006506  0.99104522  0.03772694] yaw=-156.9deg	[env.py: 1019]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:58:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=828.8ms, total=828.9ms	[env.py: 1075]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.159, 0.038)	[env.py: 1079]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg	[env.py: 1082]
-05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:58:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:58:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:58:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:58:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:58:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:58:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:58:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 21:58:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:58:31 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 21:58:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 21:58:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 21:58:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:58:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 84.527[deg]	[grasp_sample.py: 539]
-05/10 21:58:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:58:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:58:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.68s (batch: 5.58s, save: 9.10s)	[pipeline.py: 300]
-05/10 21:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 21:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 21:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.85s (batch: 5.73s, save: 10.12s)	[pipeline.py: 300]
-05/10 21:58:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.93s:
-  episode_total: mean=208.47s, total=208.47s, count=1, min=208465.6ms, max=208465.6ms
-  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=443.5ms, max=961.0ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9096.8ms, max=9096.8ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.6ms, max=62.9ms
-  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5581.0ms, max=5581.0ms
-  task_sampling: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
-  task_specific_sample: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:58:47 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.20s:
-  episode_total: mean=188.69s, total=377.38s, count=2, min=169579.9ms, max=207803.9ms
-  sensor_polling: mean=520.5ms, total=275.35s, count=529, min=440.1ms, max=965.8ms
-  physics_step: mean=24.1ms, total=12.75s, count=529, min=14.1ms, max=82.2ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10118.7ms, max=10118.7ms
-  save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5731.7ms, max=5731.7ms
-  task_sampling: mean=597.6ms, total=1.20s, count=2, min=471.3ms, max=723.9ms
-  task_specific_sample: mean=593.2ms, total=1.19s, count=2, min=466.1ms, max=720.3ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms
-  mj_forward_sync: mean=568.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 21:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:58:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096634m	[env.py: 870]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73278953  0.19767023  0.09663425] yaw=158.7deg	[env.py: 1019]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75277979  0.52039976  0.09663425] yaw=-174.6deg	[env.py: 1019]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms	[env.py: 1075]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.198, 0.097)	[env.py: 1079]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 21:58:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 21:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 21:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 21:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 21:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097207m	[env.py: 870]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 21:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80486043  0.40697397  0.09720734] yaw=167.8deg	[env.py: 1019]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97649739  0.13381     0.09720734] yaw=160.4deg	[env.py: 1019]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 21:58:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:58:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8630558   1.14903766  0.09720734] yaw=-149.4deg	[env.py: 1019]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 21:58:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms	[env.py: 1075]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.407, 0.097)	[env.py: 1079]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
-05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
-05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 21:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:58:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 21:58:49 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 21:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 21:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 21:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 21:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 21:58:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:58:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 88.314[deg]	[grasp_sample.py: 539]
-05/10 21:58:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:58:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 21:58:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 97.560[deg]	[grasp_sample.py: 539]
-05/10 21:58:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 21:58:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:58:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:58:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 21:58:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:59:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 21:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 21:59:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:00:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:00:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:00:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:01:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:01:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:01:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:01:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:01:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]	[grasp_sample.py: 539]
-05/10 22:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:01:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:01:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:01:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:01:21 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:01:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:01:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:01:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:01:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:01:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:01:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:01:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:01:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:01:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:01:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:01:48 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.832s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:01:48 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.689[deg]	[grasp_sample.py: 539]
-05/10 22:01:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:01:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:01:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:01:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:01:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:01:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:01:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:02:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:02:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:02:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.79s (batch: 5.20s, save: 10.59s)	[pipeline.py: 300]
-05/10 22:02:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:02:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.21s:
-  episode_total: mean=214.52s, total=214.52s, count=1, min=214517.4ms, max=214517.4ms
-  sensor_polling: mean=524.3ms, total=157.28s, count=300, min=451.6ms, max=911.1ms
-  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.8ms, max=10590.8ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=17.8ms, max=84.9ms
-  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5197.7ms, max=5197.7ms
-  task_sampling: mean=1.21s, total=1.21s, count=1, min=1211.0ms, max=1211.0ms
-  task_specific_sample: mean=1.21s, total=1.21s, count=1, min=1206.0ms, max=1206.0ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=583.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:02:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:02:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:02:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:02:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:02:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:02:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025228m	[env.py: 870]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:02:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88835828  0.86658547  0.02522849] yaw=-157.2deg	[env.py: 1019]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89469971  0.11005201  0.02522849] yaw=165.9deg	[env.py: 1019]
-05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:02:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms	[env.py: 1075]
-05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.867, 0.025)	[env.py: 1079]
-05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
-05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:02:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:02:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.68s (batch: 5.39s, save: 10.29s)	[pipeline.py: 300]
-05/10 22:02:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:02:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:02:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:02:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:02:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:02:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:02:05 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.88s:
-  episode_total: mean=197.53s, total=395.06s, count=2, min=171566.7ms, max=223491.7ms
-  sensor_polling: mean=528.0ms, total=279.85s, count=530, min=432.0ms, max=994.2ms
-  physics_step: mean=26.1ms, total=13.84s, count=530, min=14.6ms, max=89.6ms
-  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10290.5ms, max=10290.5ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5394.0ms, max=5394.0ms
-  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=397.5ms, max=487.3ms
-  task_specific_sample: mean=438.9ms, total=877.8ms, count=2, min=394.1ms, max=483.7ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=409.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:02:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:02:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 81.931[deg]	[grasp_sample.py: 539]
-05/10 22:02:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:02:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:02:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:02:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:02:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:02:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:02:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:02:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016281m	[env.py: 870]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:02:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88048043  0.44562741  0.0162809 ] yaw=171.9deg	[env.py: 1019]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95309746  0.3913453   0.0162809 ] yaw=167.6deg	[env.py: 1019]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11030604  1.19160689  0.0162809 ] yaw=-133.0deg	[env.py: 1019]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:02:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms	[env.py: 1075]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.446, 0.016)	[env.py: 1079]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg	[env.py: 1082]
-05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:02:07 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:02:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:02:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:02:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 98.442[deg]	[grasp_sample.py: 539]
-05/10 22:02:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:02:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:02:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:02:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:02:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:02:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:02:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:02:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:02:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:02:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:02:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.55s (batch: 5.48s, save: 11.07s)	[pipeline.py: 300]
-05/10 22:02:32 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.67s:
-  episode_total: mean=224.15s, total=224.15s, count=1, min=224145.8ms, max=224145.8ms
-  sensor_polling: mean=526.0ms, total=157.81s, count=300, min=436.6ms, max=1027.1ms
-  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11069.9ms, max=11069.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=85.9ms
-  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5483.5ms, max=5483.5ms
-  task_sampling: mean=665.8ms, total=665.8ms, count=1, min=665.8ms, max=665.8ms
-  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=689.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:02:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:02:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:02:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:02:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053474m	[env.py: 870]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97236745  0.28452009  0.0534735 ] yaw=165.4deg	[env.py: 1019]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03148388  0.8365497   0.0534735 ] yaw=-158.1deg	[env.py: 1019]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8229714   0.65000169  0.0534735 ] yaw=-175.8deg	[env.py: 1019]
-05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:02:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.3ms, total=102.4ms	[env.py: 1075]
-05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.285, 0.053)	[env.py: 1079]
-05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:02:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:02:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:02:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:02:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:02:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:02:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:02:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.342[m] 98.708[deg]	[grasp_sample.py: 539]
-05/10 22:02:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:02:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:02:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:02:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:02:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.15s (batch: 4.78s, save: 9.36s)	[pipeline.py: 300]
-05/10 22:02:43 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=235.45s, total=235.45s, count=1, min=235448.3ms, max=235448.3ms
-  sensor_polling: mean=522.4ms, total=156.71s, count=300, min=449.9ms, max=942.3ms
-  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9363.6ms, max=9363.6ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.8ms, max=109.6ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.9ms, max=4782.9ms
-  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
-  task_specific_sample: mean=518.3ms, total=518.3ms, count=1, min=518.3ms, max=518.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:02:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:02:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:02:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:02:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:02:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:02:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094174m	[env.py: 870]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:02:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83648448  0.0151941   0.09417409] yaw=150.5deg	[env.py: 1019]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66754429  0.517225    0.09417409] yaw=-186.7deg	[env.py: 1019]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98588497  0.1850165   0.09417409] yaw=157.1deg	[env.py: 1019]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:02:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.2ms, total=170.3ms	[env.py: 1075]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.015, 0.094)	[env.py: 1079]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
-05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:02:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:02:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:02:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:02:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:02:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.705s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:02:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.576[m] 90.931[deg]	[grasp_sample.py: 539]
-05/10 22:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:02:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:02:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:02:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:03:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:03:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:03:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:03:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:03:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:03:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:03:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:04:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:04:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:04:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:04:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:04:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:04:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.560[deg]	[grasp_sample.py: 539]
-05/10 22:04:16 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:04:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:04:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:04:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:04:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:04:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:04:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:04:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003035m	[env.py: 870]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:04:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83256157  0.28707409  0.00303471] yaw=159.2deg	[env.py: 1019]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05470282  1.15865546  0.00303471] yaw=-122.8deg	[env.py: 1019]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77008942  0.69225005  0.00303471] yaw=-168.1deg	[env.py: 1019]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms	[env.py: 1075]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.287, 0.003)	[env.py: 1079]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
-05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:04:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:04:18 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:04:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:04:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:04:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:04:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:04:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 95.748[deg]	[grasp_sample.py: 539]
-05/10 22:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:04:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:04:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:04:52 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:04:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:05:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:05:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:05:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:05:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:05:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:05:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:05:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:05:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:05:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:05:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:05:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:05:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.21s (batch: 4.80s, save: 9.40s)	[pipeline.py: 300]
-05/10 22:05:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
-  episode_total: mean=210.25s, total=210.25s, count=1, min=210249.8ms, max=210249.8ms
-  sensor_polling: mean=516.8ms, total=155.03s, count=300, min=447.5ms, max=856.3ms
-  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9402.6ms, max=9402.6ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=14.1ms, max=83.9ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4804.6ms, max=4804.6ms
-  task_sampling: mean=559.3ms, total=559.3ms, count=1, min=559.3ms, max=559.3ms
-  task_specific_sample: mean=555.1ms, total=555.1ms, count=1, min=555.1ms, max=555.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:05:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:05:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:05:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:05:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:05:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:05:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:05:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017816m	[env.py: 870]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:05:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94152225  0.24854711  0.01781618] yaw=173.8deg	[env.py: 1019]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9563275   0.25922079  0.01781618] yaw=173.6deg	[env.py: 1019]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71388884  0.75362189  0.01781618] yaw=-171.9deg	[env.py: 1019]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:05:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.2ms	[env.py: 1075]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.249, 0.018)	[env.py: 1079]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
-05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:05:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:05:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:05:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:05:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 97.769[deg]	[grasp_sample.py: 539]
-05/10 22:05:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:05:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:05:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:05:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:05:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:05:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:05:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.45s (batch: 4.64s, save: 11.82s)	[pipeline.py: 300]
-05/10 22:05:42 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
-  episode_total: mean=215.30s, total=215.30s, count=1, min=215297.8ms, max=215297.8ms
-  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=454.2ms, max=937.9ms
-  save_trajectories: mean=11.82s, total=11.82s, count=1, min=11818.2ms, max=11818.2ms
-  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.6ms, max=72.5ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.5ms, max=4635.5ms
-  task_sampling: mean=396.1ms, total=396.1ms, count=1, min=396.1ms, max=396.1ms
-  task_specific_sample: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:05:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:05:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:05:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:05:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041763m	[env.py: 870]
-05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08497557  1.0877005   0.04176253] yaw=-134.0deg	[env.py: 1019]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94964042  0.88900527  0.04176253] yaw=-149.0deg	[env.py: 1019]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10458435  1.10373391  0.04176253] yaw=-140.6deg	[env.py: 1019]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:05:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms	[env.py: 1075]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.088, 0.042)	[env.py: 1079]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:05:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:05:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:05:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:05:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 84.693[deg]	[grasp_sample.py: 539]
-05/10 22:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:05:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:05:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:06:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:06:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:06:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.98s (batch: 4.43s, save: 12.55s)	[pipeline.py: 300]
-05/10 22:06:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=218.90s, total=218.90s, count=1, min=218896.0ms, max=218896.0ms
-  sensor_polling: mean=537.5ms, total=161.25s, count=300, min=446.9ms, max=941.0ms
-  save_trajectories: mean=12.55s, total=12.55s, count=1, min=12549.3ms, max=12549.3ms
-  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.7ms, max=75.1ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
-  task_sampling: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
-  task_specific_sample: mean=490.3ms, total=490.3ms, count=1, min=490.3ms, max=490.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=618.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:06:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:06:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:06:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074175m	[env.py: 870]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89333809  0.15431183  0.07417476] yaw=159.1deg	[env.py: 1019]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80279908  0.66985313  0.07417476] yaw=-160.2deg	[env.py: 1019]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15247277  1.10836574  0.07417476] yaw=-136.5deg	[env.py: 1019]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms	[env.py: 1075]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.154, 0.074)	[env.py: 1079]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
-05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:06:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:06:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:06:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:06:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:06:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 98.518[deg]	[grasp_sample.py: 539]
-05/10 22:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:06:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:06:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:06:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:06:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:06:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:06:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:13 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:07:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:07:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:07:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:07:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:07:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:07:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:07:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:07:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:07:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:07:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.445[deg]	[grasp_sample.py: 539]
-05/10 22:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:07:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:07:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:07:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:07:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:07:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:07:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:07:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:07:38 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.455[deg]	[grasp_sample.py: 539]
-05/10 22:07:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:07:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:07:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:07:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:07:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:07:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.77s (batch: 4.22s, save: 8.55s)	[pipeline.py: 300]
-05/10 22:07:48 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.19s:
-  episode_total: mean=155.88s, total=311.76s, count=2, min=101597.6ms, max=210163.2ms
-  sensor_polling: mean=532.3ms, total=241.67s, count=454, min=449.0ms, max=1024.8ms
-  physics_step: mean=26.8ms, total=12.15s, count=454, min=15.1ms, max=98.1ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.3ms, max=8549.3ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4216.9ms, max=4216.9ms
-  task_sampling: mean=593.9ms, total=1.19s, count=2, min=444.7ms, max=743.0ms
-  task_specific_sample: mean=590.1ms, total=1.18s, count=2, min=440.2ms, max=739.9ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.8ms
-  mj_forward_sync: mean=520.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:07:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:07:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:07:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:07:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:07:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:07:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:07:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052198m	[env.py: 870]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:07:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10353015  1.22202034  0.05219789] yaw=-133.8deg	[env.py: 1019]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81590013  0.69408719  0.05219789] yaw=-168.3deg	[env.py: 1019]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04813219  0.95348317  0.05219789] yaw=-143.9deg	[env.py: 1019]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:07:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.7ms, total=415.7ms	[env.py: 1075]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.222, 0.052)	[env.py: 1079]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
-05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:07:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:07:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:07:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:07:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:07:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:07:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.587s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:07:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.465[deg]	[grasp_sample.py: 539]
-05/10 22:07:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:07:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:07:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:08:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:08:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:08:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:08:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:08:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.241[deg]	[grasp_sample.py: 539]
-05/10 22:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:08:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:08:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:08:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:08:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:08:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:08:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047933m	[env.py: 870]
-05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:08:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07651475  0.96683729  0.04793261] yaw=-143.9deg	[env.py: 1019]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95235692  0.27148443  0.04793261] yaw=167.1deg	[env.py: 1019]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72649085  0.86898473  0.04793261] yaw=-162.9deg	[env.py: 1019]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.6ms, total=305.6ms	[env.py: 1075]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.967, 0.048)	[env.py: 1079]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
-05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:08:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:08:31 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:08:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:08:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:08:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:08:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:08:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:08:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 89.338[deg]	[grasp_sample.py: 539]
-05/10 22:08:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:08:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:08:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:08:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:08:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:08:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:08:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:08:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:08:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.459[deg]	[grasp_sample.py: 539]
-05/10 22:08:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.076s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:08:44 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.005[deg]	[grasp_sample.py: 539]
-05/10 22:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:08:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:00 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:09:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:09:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:09:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:09:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:09:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:09:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]	[grasp_sample.py: 539]
-05/10 22:09:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:09:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:09:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:09:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:09:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:09:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:09:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:09:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]	[grasp_sample.py: 539]
-05/10 22:09:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:09:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:09:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:09:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:09:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:09:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:09:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 22:09:41 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:09:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:09:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:09:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 17.65s (batch: 4.41s, save: 13.24s)	[pipeline.py: 300]
-05/10 22:09:42 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s:
-  episode_total: mean=245.38s, total=245.38s, count=1, min=245377.0ms, max=245377.0ms
-  sensor_polling: mean=535.2ms, total=160.56s, count=300, min=448.4ms, max=1169.7ms
-  save_trajectories: mean=13.24s, total=13.24s, count=1, min=13244.3ms, max=13244.3ms
-  physics_step: mean=24.3ms, total=7.28s, count=300, min=13.5ms, max=116.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4407.8ms, max=4407.8ms
-  task_sampling: mean=656.7ms, total=656.7ms, count=1, min=656.7ms, max=656.7ms
-  task_specific_sample: mean=652.2ms, total=652.2ms, count=1, min=652.2ms, max=652.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=552.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:09:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:09:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:09:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:09:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:09:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:09:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:09:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046465m	[env.py: 870]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:09:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83966533  0.72946256  0.04646467] yaw=-156.9deg	[env.py: 1019]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85826305  0.32023197  0.04646467] yaw=180.4deg	[env.py: 1019]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9128542   0.13184302  0.04646467] yaw=146.0deg	[env.py: 1019]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:09:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.5ms	[env.py: 1075]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.729, 0.046)	[env.py: 1079]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
-05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:09:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:09:44 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:09:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:09:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:09:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:09:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:09:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:09:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 81.600[deg]	[grasp_sample.py: 539]
-05/10 22:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:09:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:09:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:10:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:10:00 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
-05/10 22:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:10:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:10:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:10:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:10:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.64s (batch: 3.93s, save: 10.71s)	[pipeline.py: 300]
-05/10 22:10:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
-  episode_total: mean=229.60s, total=229.60s, count=1, min=229603.3ms, max=229603.3ms
-  sensor_polling: mean=516.9ms, total=131.30s, count=254, min=448.0ms, max=1143.8ms
-  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.6ms, max=10708.6ms
-  physics_step: mean=25.3ms, total=6.41s, count=254, min=12.8ms, max=129.8ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms
-  task_sampling: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
-  task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=419.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:10:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:10:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]	[grasp_sample.py: 539]
-05/10 22:10:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:10:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:10:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:10:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:10:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:10:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:10:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:10:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010557m	[env.py: 870]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96454673  0.80953441  0.01055669] yaw=-154.5deg	[env.py: 1019]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79692637  0.62038593  0.01055669] yaw=-160.2deg	[env.py: 1019]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10745522  1.06553463  0.01055669] yaw=-142.1deg	[env.py: 1019]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:10:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.7ms	[env.py: 1075]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.810, 0.011)	[env.py: 1079]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
-05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:10:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:10:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:10:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:10:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:10:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:10:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:10:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:10:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 74.141[deg]	[grasp_sample.py: 539]
-05/10 22:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:10:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:10:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:10:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:10:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:10:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:10:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:10:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:10:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:10:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:10:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:10:57 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.369[deg]	[grasp_sample.py: 539]
-05/10 22:10:58 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:11:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:11:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:11:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:11:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:11:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:11:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:11:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020140m	[env.py: 870]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:11:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79666439  0.71377634  0.02013954] yaw=-174.9deg	[env.py: 1019]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11659464  0.95457088  0.02013954] yaw=-141.8deg	[env.py: 1019]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04918715  1.3036637   0.02013954] yaw=-126.0deg	[env.py: 1019]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:11:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.2ms, total=353.2ms	[env.py: 1075]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.714, 0.020)	[env.py: 1079]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
-05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:11:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:11:01 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:11:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:11:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:11:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:11:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:11:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:11:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:11:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 91.852[deg]	[grasp_sample.py: 539]
-05/10 22:11:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:11:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:11:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:11:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:11:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:11:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:11:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:11:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:11:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.722s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:11:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]	[grasp_sample.py: 539]
-05/10 22:11:27 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:11:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:11:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:11:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:11:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009676m	[env.py: 870]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8434122   0.42000288  0.00967631] yaw=186.8deg	[env.py: 1019]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.7ms, total=400.7ms	[env.py: 1075]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.420, 0.010)	[env.py: 1079]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg	[env.py: 1082]
-05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:11:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:11:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:11:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:11:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 95.338[deg]	[grasp_sample.py: 539]
-05/10 22:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:11:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:12:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:12:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:12:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:12:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:12:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:12:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:12:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:12:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:12:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:13:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:13:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:13:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.81s (batch: 4.97s, save: 9.84s)	[pipeline.py: 300]
-05/10 22:13:10 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
-  episode_total: mean=205.89s, total=205.89s, count=1, min=205886.0ms, max=205886.0ms
-  sensor_polling: mean=504.9ms, total=151.48s, count=300, min=437.0ms, max=897.5ms
-  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.9ms, max=9844.9ms
-  physics_step: mean=23.7ms, total=7.11s, count=300, min=17.9ms, max=66.7ms
-  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4967.5ms, max=4967.5ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.3ms, total=452.3ms, count=1, min=452.3ms, max=452.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:13:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:13:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:13:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:13:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:13:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000358m	[env.py: 870]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.57590381e-01  1.01017207e+00  3.58128945e-04] yaw=-152.3deg	[env.py: 1019]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00865127e+00  1.18409291e-01  3.58128945e-04] yaw=162.8deg	[env.py: 1019]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms	[env.py: 1075]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.010, 0.000)	[env.py: 1079]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
-05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:13:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:13:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:13:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.671s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:13:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 81.095[deg]	[grasp_sample.py: 539]
-05/10 22:13:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:13:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:13:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:13:22 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:13:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:13:22 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 22:13:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:13:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:13:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.13s (batch: 4.80s, save: 9.32s)	[pipeline.py: 300]
-05/10 22:13:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
-  episode_total: mean=199.85s, total=199.85s, count=1, min=199849.9ms, max=199849.9ms
-  sensor_polling: mean=523.6ms, total=150.79s, count=288, min=440.7ms, max=1207.3ms
-  save_trajectories: mean=9.32s, total=9.32s, count=1, min=9324.9ms, max=9324.9ms
-  physics_step: mean=26.2ms, total=7.54s, count=288, min=16.8ms, max=95.6ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4801.3ms, max=4801.3ms
-  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=414.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:13:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:13:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:13:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:13:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:13:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:13:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:13:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073849m	[env.py: 870]
-05/10 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:13:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83199234  0.59684425  0.07384925] yaw=-180.8deg	[env.py: 1019]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8241266   0.88641948  0.07384925] yaw=-153.9deg	[env.py: 1019]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89175715  0.77975166  0.07384925] yaw=-150.3deg	[env.py: 1019]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.8ms, total=157.8ms	[env.py: 1075]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.597, 0.074)	[env.py: 1079]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg	[env.py: 1082]
-05/10 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:13:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:13:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:13:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:13:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:13:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:13:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 84.141[deg]	[grasp_sample.py: 539]
-05/10 22:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:13:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:13:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:13:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:14:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:14:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:14:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:14:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:14:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:14:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:14:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:14:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.32s (batch: 4.05s, save: 8.27s)	[pipeline.py: 300]
-05/10 22:14:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.40s:
-  episode_total: mean=196.44s, total=392.89s, count=2, min=188628.5ms, max=204258.3ms
-  sensor_polling: mean=519.6ms, total=305.01s, count=587, min=433.6ms, max=1162.5ms
-  physics_step: mean=25.3ms, total=14.84s, count=587, min=15.8ms, max=98.2ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.2ms, max=8274.2ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.3ms, max=4046.3ms
-  task_sampling: mean=698.4ms, total=1.40s, count=2, min=630.9ms, max=766.0ms
-  task_specific_sample: mean=694.7ms, total=1.39s, count=2, min=628.0ms, max=761.4ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
-  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:14:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068913m	[env.py: 870]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66205625  0.28780424  0.06891308] yaw=180.0deg	[env.py: 1019]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01441333  0.94633139  0.06891308] yaw=-152.6deg	[env.py: 1019]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78197963  1.05650001  0.06891308] yaw=-153.8deg	[env.py: 1019]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.1ms	[env.py: 1075]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.288, 0.069)	[env.py: 1079]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg	[env.py: 1082]
-05/10 22:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:14:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 100.337[deg]	[grasp_sample.py: 539]
-05/10 22:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:14:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:14:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:14:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:14:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:14:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:14:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:14:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:14:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.14s, save: 7.70s)	[pipeline.py: 300]
-05/10 22:14:53 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.78s:
-  episode_total: mean=181.71s, total=545.12s, count=3, min=164126.1ms, max=204051.5ms
-  sensor_polling: mean=509.3ms, total=437.48s, count=859, min=432.7ms, max=1253.3ms
-  physics_step: mean=24.7ms, total=21.24s, count=859, min=14.8ms, max=100.1ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7701.3ms, max=7701.3ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4143.9ms, max=4143.9ms
-  task_sampling: mean=593.3ms, total=1.78s, count=3, min=515.0ms, max=702.8ms
-  task_specific_sample: mean=589.5ms, total=1.77s, count=3, min=510.5ms, max=699.0ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=489.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:14:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:14:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:14:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:14:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054448m	[env.py: 870]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64513941  0.4665513   0.05444763] yaw=174.9deg	[env.py: 1019]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98331101  0.22687434  0.05444763] yaw=149.8deg	[env.py: 1019]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0179279   1.07679657  0.05444763] yaw=-136.8deg	[env.py: 1019]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:14:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.2ms, total=320.3ms	[env.py: 1075]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.467, 0.054)	[env.py: 1079]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
-05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:14:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:14:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:14:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:14:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:14:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:14:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.450s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:14:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.630[m] 95.774[deg]	[grasp_sample.py: 539]
-05/10 22:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:14:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:14:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:15:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:15:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:15:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:16:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:16:04 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:16:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:16:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:16:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:16:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.60s (batch: 4.82s, save: 10.78s)	[pipeline.py: 300]
-05/10 22:16:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=189.06s, total=189.06s, count=1, min=189059.5ms, max=189059.5ms
-  sensor_polling: mean=468.3ms, total=140.50s, count=300, min=391.0ms, max=768.6ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10777.2ms, max=10777.2ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.5ms, max=72.5ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.9ms, max=4823.9ms
-  task_sampling: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms
-  task_specific_sample: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:16:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047320m	[env.py: 870]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85333776  0.09159972  0.04731973] yaw=160.2deg	[env.py: 1019]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81866705  0.68803712  0.04731973] yaw=-173.2deg	[env.py: 1019]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06665285  1.14845087  0.04731973] yaw=-131.6deg	[env.py: 1019]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.6ms	[env.py: 1075]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.092, 0.047)	[env.py: 1079]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg	[env.py: 1082]
-05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:16:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:16:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:16:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:16:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:16:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.500[m] 87.328[deg]	[grasp_sample.py: 539]
-05/10 22:16:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:16:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:16:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:16:52 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:16:57 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:17:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:17:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:17:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:17:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:17:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:17:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:17:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]	[grasp_sample.py: 539]
-05/10 22:17:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:17:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:17:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:17:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:17:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.88s, save: 7.43s)	[pipeline.py: 300]
-05/10 22:17:23 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
-  episode_total: mean=224.48s, total=224.48s, count=1, min=224483.4ms, max=224483.4ms
-  sensor_polling: mean=469.5ms, total=140.84s, count=300, min=392.9ms, max=791.4ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.1ms, max=7429.1ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.7ms, max=94.9ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms
-  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=416.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:17:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:17:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:17:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:17:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:17:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:17:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:17:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021258m	[env.py: 870]
-05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:17:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71189626  0.4457718   0.02125798] yaw=188.5deg	[env.py: 1019]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71601287  0.62103296  0.02125798] yaw=-179.2deg	[env.py: 1019]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms	[env.py: 1075]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.446, 0.021)	[env.py: 1079]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg	[env.py: 1082]
-05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:17:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:17:25 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:17:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:17:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 90.877[deg]	[grasp_sample.py: 539]
-05/10 22:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:17:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:17:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:17:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:17:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.17s (batch: 3.93s, save: 7.24s)	[pipeline.py: 300]
-05/10 22:17:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s:
-  episode_total: mean=183.10s, total=183.10s, count=1, min=183100.7ms, max=183100.7ms
-  sensor_polling: mean=465.8ms, total=139.74s, count=300, min=397.0ms, max=713.6ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7243.0ms, max=7243.0ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.5ms, max=74.2ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3926.8ms, max=3926.8ms
-  task_sampling: mean=331.9ms, total=331.9ms, count=1, min=331.9ms, max=331.9ms
-  task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:17:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:17:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:17:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:17:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039474m	[env.py: 870]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71937425  0.8776568   0.03947445] yaw=-161.8deg	[env.py: 1019]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8209484   0.92103074  0.03947445] yaw=-156.1deg	[env.py: 1019]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:17:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms	[env.py: 1075]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.878, 0.039)	[env.py: 1079]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
-05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:17:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:17:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:17:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:17:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:17:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:17:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.622s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:17:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 76.859[deg]	[grasp_sample.py: 539]
-05/10 22:17:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:17:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:17:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:17:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:17:35 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:17:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:17:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:17:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:18:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:18:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:18:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.25s (batch: 4.13s, save: 9.12s)	[pipeline.py: 300]
-05/10 22:18:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.62s:
-  episode_total: mean=197.80s, total=197.80s, count=1, min=197799.6ms, max=197799.6ms
-  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=389.3ms, max=703.7ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.3ms, max=9118.3ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=63.4ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.0ms, max=4129.0ms
-  task_sampling: mean=621.0ms, total=621.0ms, count=1, min=621.0ms, max=621.0ms
-  task_specific_sample: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms
-  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:18:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:18:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:18:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033136m	[env.py: 870]
-05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87750766  0.70276041  0.03313566] yaw=-174.8deg	[env.py: 1019]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90004456  0.89556275  0.03313566] yaw=-147.0deg	[env.py: 1019]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61983833  0.63203531  0.03313566] yaw=-171.3deg	[env.py: 1019]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=601.0ms, total=601.1ms	[env.py: 1075]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.703, 0.033)	[env.py: 1079]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg	[env.py: 1082]
-05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
-05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:18:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:18:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:18:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:18:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:18:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:18:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 90.621[deg]	[grasp_sample.py: 539]
-05/10 22:18:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:18:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:18:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:18:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:18:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:18:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.477[deg]	[grasp_sample.py: 539]
-05/10 22:18:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:18:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:18:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:18:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:18:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:18:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg]	[grasp_sample.py: 539]
-05/10 22:18:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:18:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:18:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:19:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:19:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:19:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg]	[grasp_sample.py: 539]
-05/10 22:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:19:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:19:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:19:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:19:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:19:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 22:19:27 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:19:48 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:19:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:19:48 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 22:19:57 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:20:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:20:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:20:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.28s (batch: 3.85s, save: 9.44s)	[pipeline.py: 300]
-05/10 22:20:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s:
-  episode_total: mean=220.49s, total=220.49s, count=1, min=220493.8ms, max=220493.8ms
-  sensor_polling: mean=460.4ms, total=131.21s, count=285, min=401.1ms, max=769.3ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9436.1ms, max=9436.1ms
-  physics_step: mean=20.8ms, total=5.94s, count=285, min=11.5ms, max=68.3ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.5ms, max=3847.5ms
-  task_sampling: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms
-  task_specific_sample: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=403.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:20:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:20:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:20:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:20:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:20:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:20:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:20:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056216m	[env.py: 870]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:20:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72280208  0.76557096  0.05621569] yaw=-157.4deg	[env.py: 1019]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79332377  0.63060379  0.05621569] yaw=-171.3deg	[env.py: 1019]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90640475  1.24009373  0.05621569] yaw=-138.5deg	[env.py: 1019]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:20:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.4ms	[env.py: 1075]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.766, 0.056)	[env.py: 1079]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
-05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:20:04 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:20:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:20:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:20:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.590[m] 87.850[deg]	[grasp_sample.py: 539]
-05/10 22:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:20:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:20:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:20:18 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:20:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:20:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:20:24 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:20:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:20:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:20:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:20:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.28s (batch: 3.83s, save: 7.45s)	[pipeline.py: 300]
-05/10 22:20:30 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.47s:
-  episode_total: mean=185.37s, total=185.37s, count=1, min=185371.4ms, max=185371.4ms
-  sensor_polling: mean=467.7ms, total=140.32s, count=300, min=400.1ms, max=982.5ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7450.0ms, max=7450.0ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=14.1ms, max=121.4ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3831.8ms, max=3831.8ms
-  task_sampling: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms
-  task_specific_sample: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=384.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:20:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043789m	[env.py: 870]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03083617  0.9452331   0.0437895 ] yaw=-145.3deg	[env.py: 1019]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78082377  0.33066894  0.0437895 ] yaw=166.8deg	[env.py: 1019]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9390865   0.46934615  0.0437895 ] yaw=188.6deg	[env.py: 1019]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.9ms	[env.py: 1075]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.945, 0.044)	[env.py: 1079]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg	[env.py: 1082]
-05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
-05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:20:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:20:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:20:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 87.414[deg]	[grasp_sample.py: 539]
-05/10 22:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:20:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:20:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:20:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.56s (batch: 4.01s, save: 7.54s)	[pipeline.py: 300]
-05/10 22:20:36 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
-  episode_total: mean=185.71s, total=185.71s, count=1, min=185714.5ms, max=185714.5ms
-  sensor_polling: mean=469.5ms, total=140.85s, count=300, min=396.8ms, max=895.8ms
-  save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.5ms, max=7541.5ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.3ms, max=53.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.6ms, max=4014.6ms
-  task_sampling: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms
-  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:20:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:20:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:20:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:20:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:20:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:20:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099678m	[env.py: 870]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:20:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93918096  0.41313221  0.09967764] yaw=177.7deg	[env.py: 1019]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92139449  0.22802306  0.09967764] yaw=155.5deg	[env.py: 1019]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.6ms, total=159.7ms	[env.py: 1075]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.413, 0.100)	[env.py: 1079]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg	[env.py: 1082]
-05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:20:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:20:38 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:20:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:20:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:20:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 101.518[deg]	[grasp_sample.py: 539]
-05/10 22:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:20:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:20:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:20:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:20:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:21:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:21:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:21:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:21:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:21:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:21:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.49s (batch: 4.12s, save: 8.37s)	[pipeline.py: 300]
-05/10 22:21:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.86s:
-  episode_total: mean=185.33s, total=185.33s, count=1, min=185328.8ms, max=185328.8ms
-  sensor_polling: mean=463.1ms, total=138.94s, count=300, min=401.7ms, max=848.0ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8365.0ms, max=8365.0ms
-  physics_step: mean=20.4ms, total=6.13s, count=300, min=16.6ms, max=42.5ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.9ms, max=4121.9ms
-  task_sampling: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms
-  task_specific_sample: mean=859.9ms, total=859.9ms, count=1, min=859.9ms, max=859.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=544.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:21:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:21:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:21:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:21:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:21:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:21:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:21:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005815m	[env.py: 870]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:21:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76838776  0.94624467  0.00581516] yaw=-156.5deg	[env.py: 1019]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80469593  0.76596592  0.00581516] yaw=-167.7deg	[env.py: 1019]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11616872  1.01864043  0.00581516] yaw=-128.4deg	[env.py: 1019]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:21:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.3ms	[env.py: 1075]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.946, 0.006)	[env.py: 1079]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:21:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:21:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:21:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:21:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:21:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:21:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:21:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:21:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 96.490[deg]	[grasp_sample.py: 539]
-05/10 22:21:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:21:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:21:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:21:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:22:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:22:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:22:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:22:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:22:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.379s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:22:27 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.572[deg]	[grasp_sample.py: 539]
-05/10 22:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:22:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:22:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052027m	[env.py: 870]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80715854  0.70576702  0.0520273 ] yaw=-166.2deg	[env.py: 1019]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73822543  0.39930126  0.0520273 ] yaw=172.9deg	[env.py: 1019]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66684469  0.73782004  0.0520273 ] yaw=-161.1deg	[env.py: 1019]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms	[env.py: 1075]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.706, 0.052)	[env.py: 1079]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg	[env.py: 1082]
-05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:22:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:22:31 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:22:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:22:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 85.816[deg]	[grasp_sample.py: 539]
-05/10 22:22:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:22:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:22:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:22:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:22:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:22:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:22:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:22:59 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:22:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:22:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:23:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.87s (batch: 4.06s, save: 7.81s)	[pipeline.py: 300]
-05/10 22:23:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=187.23s, total=187.23s, count=1, min=187232.5ms, max=187232.5ms
-  sensor_polling: mean=463.5ms, total=139.06s, count=300, min=384.0ms, max=742.2ms
-  save_trajectories: mean=7.81s, total=7.81s, count=1, min=7812.4ms, max=7812.4ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=13.4ms, max=74.8ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.3ms, max=4055.3ms
-  task_sampling: mean=429.1ms, total=429.1ms, count=1, min=429.1ms, max=429.1ms
-  task_specific_sample: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:23:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018567m	[env.py: 870]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83947089  0.10069514  0.0185669 ] yaw=159.7deg	[env.py: 1019]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90573385  0.68221977  0.0185669 ] yaw=-174.6deg	[env.py: 1019]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88724782  0.42898095  0.0185669 ] yaw=174.1deg	[env.py: 1019]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=494.2ms, total=494.2ms	[env.py: 1075]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.101, 0.019)	[env.py: 1079]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
-05/10 22:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:23:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:23:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:23:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:23:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.129s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:23:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 104.107[deg]	[grasp_sample.py: 539]
-05/10 22:23:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:23:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:23:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:23:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:23:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:23:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:23:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:23:27 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 22:23:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:23:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:23:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:23:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.89s (batch: 3.84s, save: 8.05s)	[pipeline.py: 300]
-05/10 22:23:39 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s:
-  episode_total: mean=187.78s, total=187.78s, count=1, min=187779.3ms, max=187779.3ms
-  sensor_polling: mean=484.2ms, total=141.87s, count=293, min=402.9ms, max=915.5ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.6ms, max=8050.6ms
-  physics_step: mean=22.8ms, total=6.69s, count=293, min=14.1ms, max=57.2ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.2ms, max=3843.2ms
-  task_sampling: mean=407.9ms, total=407.9ms, count=1, min=407.9ms, max=407.9ms
-  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=387.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:23:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:23:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:23:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:23:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:23:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:23:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m	[env.py: 870]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:23:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74422943  0.77382923  0.03141982] yaw=-171.7deg	[env.py: 1019]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:23:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.3ms	[env.py: 1075]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.774, 0.031)	[env.py: 1079]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg	[env.py: 1082]
-05/10 22:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:23:41 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:23:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:23:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:23:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:23:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:23:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:23:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.583[m] 91.074[deg]	[grasp_sample.py: 539]
-05/10 22:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:23:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:23:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026704m	[env.py: 870]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67523858  0.29137131  0.02670364] yaw=173.1deg	[env.py: 1019]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81969392  0.13940133  0.02670364] yaw=159.1deg	[env.py: 1019]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8674853   0.22308104  0.02670364] yaw=165.4deg	[env.py: 1019]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.3ms	[env.py: 1075]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.291, 0.027)	[env.py: 1079]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
-05/10 22:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:23:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:23:46 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:23:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:23:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.586[m] 86.063[deg]	[grasp_sample.py: 539]
-05/10 22:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:23:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:23:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:23:56 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:24:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:24:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:24:17 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:24:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:24:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:24:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:24:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:24:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:24:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.64s (batch: 4.06s, save: 7.58s)	[pipeline.py: 300]
-05/10 22:24:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
-  episode_total: mean=188.26s, total=188.26s, count=1, min=188257.0ms, max=188257.0ms
-  sensor_polling: mean=475.4ms, total=142.62s, count=300, min=386.5ms, max=871.7ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7576.6ms, max=7576.6ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=16.6ms, max=48.1ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4064.8ms, max=4064.8ms
-  task_sampling: mean=376.4ms, total=376.4ms, count=1, min=376.4ms, max=376.4ms
-  task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=435.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:24:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:24:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:24:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:24:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:24:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:24:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:24:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024004m	[env.py: 870]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:24:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05857845  1.18804482  0.02400358] yaw=-123.0deg	[env.py: 1019]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86360394  0.9534524   0.02400358] yaw=-159.3deg	[env.py: 1019]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93201839  0.96945378  0.02400358] yaw=-149.5deg	[env.py: 1019]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:24:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.0ms	[env.py: 1075]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.188, 0.024)	[env.py: 1079]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.0 deg	[env.py: 1082]
-05/10 22:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:24:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:24:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:24:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:24:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:24:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:24:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:24:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.207s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:24:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.552[m] 92.432[deg]	[grasp_sample.py: 539]
-05/10 22:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:24:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:24:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:24:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:24:56 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:24:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:25:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:25:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:25:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.19s, save: 7.66s)	[pipeline.py: 300]
-05/10 22:25:33 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
-  episode_total: mean=146.96s, total=293.93s, count=2, min=110581.8ms, max=183345.7ms
-  sensor_polling: mean=464.9ms, total=220.82s, count=475, min=392.7ms, max=820.5ms
-  physics_step: mean=21.7ms, total=10.30s, count=475, min=16.6ms, max=58.2ms
-  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7657.8ms, max=7657.8ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.8ms, max=4188.8ms
-  task_sampling: mean=423.5ms, total=847.0ms, count=2, min=411.4ms, max=435.6ms
-  task_specific_sample: mean=419.9ms, total=839.9ms, count=2, min=408.1ms, max=431.8ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms
-  mj_forward_sync: mean=479.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:25:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:25:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:25:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:25:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056537m	[env.py: 870]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90325356  0.63092802  0.05653677] yaw=-180.4deg	[env.py: 1019]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88350806  1.0012928   0.05653677] yaw=-147.5deg	[env.py: 1019]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98740937  0.11481577  0.05653677] yaw=152.4deg	[env.py: 1019]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:25:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.631, 0.057)	[env.py: 1079]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg	[env.py: 1082]
-05/10 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:25:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:25:35 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:25:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:25:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:25:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:25:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.389[m] 92.246[deg]	[grasp_sample.py: 539]
-05/10 22:25:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:25:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:25:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:25:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:25:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:26:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.390[deg]	[grasp_sample.py: 539]
-05/10 22:26:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:26:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:26:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:26:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:26:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:26:18 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:26:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:26:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:26:28 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:26:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:26:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:26:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:26:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:26:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:26:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.14s (batch: 3.94s, save: 8.20s)	[pipeline.py: 300]
-05/10 22:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.77s:
-  episode_total: mean=208.29s, total=208.29s, count=1, min=208292.1ms, max=208292.1ms
-  sensor_polling: mean=457.9ms, total=137.38s, count=300, min=401.3ms, max=745.1ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.5ms, max=56.3ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.3ms, max=3944.3ms
-  task_sampling: mean=767.0ms, total=767.0ms, count=1, min=767.0ms, max=767.0ms
-  task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=553.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:26:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:26:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:26:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:26:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:26:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045880m	[env.py: 870]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:26:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77639093  0.01429618  0.04587987] yaw=152.1deg	[env.py: 1019]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90930912  0.52338189  0.04587987] yaw=-168.4deg	[env.py: 1019]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07001736  1.05386642  0.04587987] yaw=-147.8deg	[env.py: 1019]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:26:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms	[env.py: 1075]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.014, 0.046)	[env.py: 1079]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg	[env.py: 1082]
-05/10 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:26:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 99.055[deg]	[grasp_sample.py: 539]
-05/10 22:26:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:26:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:26:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:26:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:26:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:26:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.79s, save: 7.53s)	[pipeline.py: 300]
-05/10 22:26:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.90s:
-  episode_total: mean=94.41s, total=188.83s, count=2, min=2851.2ms, max=185976.3ms
-  sensor_polling: mean=466.4ms, total=139.92s, count=300, min=397.2ms, max=907.5ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7527.5ms, max=7527.5ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=14.4ms, max=42.5ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.7ms, max=3785.7ms
-  task_sampling: mean=452.2ms, total=904.5ms, count=2, min=361.4ms, max=543.1ms
-  task_specific_sample: mean=449.1ms, total=898.2ms, count=2, min=358.7ms, max=539.5ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=380.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:26:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:52 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.113[deg]	[grasp_sample.py: 539]
-05/10 22:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:26:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:26:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058448m	[env.py: 870]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77705323  0.91576464  0.05844776] yaw=-161.1deg	[env.py: 1019]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94790866  0.79077819  0.05844776] yaw=-150.3deg	[env.py: 1019]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15615181  1.08574421  0.05844776] yaw=-139.6deg	[env.py: 1019]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms	[env.py: 1075]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.916, 0.058)	[env.py: 1079]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
-05/10 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:26:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:26:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:26:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069315m	[env.py: 870]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80308385  0.46582673  0.06931477] yaw=179.2deg	[env.py: 1019]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91958734  0.11170152  0.06931477] yaw=144.2deg	[env.py: 1019]
-05/10 22:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=177.9ms	[env.py: 1075]
-05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.466, 0.069)	[env.py: 1079]
-05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg	[env.py: 1082]
-05/10 22:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
-05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:26:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:55 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.567[m] 87.093[deg]	[grasp_sample.py: 539]
-05/10 22:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 90.657[deg]	[grasp_sample.py: 539]
-05/10 22:26:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:26:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:26:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:26:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:26:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:26:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:26:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:26:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:26:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:26:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008146m	[env.py: 870]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:26:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66398494  0.32599308  0.00814617] yaw=166.6deg	[env.py: 1019]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92616365  1.17514129  0.00814617] yaw=-139.3deg	[env.py: 1019]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83688984  0.95449991  0.00814617] yaw=-149.4deg	[env.py: 1019]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.8ms	[env.py: 1075]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.326, 0.008)	[env.py: 1079]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
-05/10 22:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:26:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:26:58 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:26:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:26:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:26:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:26:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:26:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:26:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.608[m] 88.910[deg]	[grasp_sample.py: 539]
-05/10 22:26:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:26:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:26:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:27:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:27:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:27:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:27:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:27:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:27:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:27:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:28:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:28:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:28:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:28:30 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:28:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:28:30 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 22:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:28:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:28:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.10s (batch: 4.01s, save: 8.09s)	[pipeline.py: 300]
-05/10 22:28:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=188.20s, total=188.20s, count=1, min=188203.3ms, max=188203.3ms
-  sensor_polling: mean=455.9ms, total=136.33s, count=299, min=393.1ms, max=887.2ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8094.4ms, max=8094.4ms
-  physics_step: mean=22.4ms, total=6.71s, count=299, min=15.8ms, max=47.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.0ms, max=4007.0ms
-  task_sampling: mean=369.9ms, total=369.9ms, count=1, min=369.9ms, max=369.9ms
-  task_specific_sample: mean=366.5ms, total=366.5ms, count=1, min=366.5ms, max=366.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:28:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:28:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:28:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:28:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066981m	[env.py: 870]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92669531  0.49967366  0.0669812 ] yaw=-173.4deg	[env.py: 1019]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88072255  1.13810888  0.0669812 ] yaw=-141.3deg	[env.py: 1019]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65752035  0.79630449  0.0669812 ] yaw=-171.4deg	[env.py: 1019]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:28:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.0ms, total=115.0ms	[env.py: 1075]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.500, 0.067)	[env.py: 1079]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg	[env.py: 1082]
-05/10 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:28:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:28:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:28:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:28:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:28:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 96.882[deg]	[grasp_sample.py: 539]
-05/10 22:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:28:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:28:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:29:15 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:29:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:29:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:29:29 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:29:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:29:36 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:29:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:29:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:29:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:29:45 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:29:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:29:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:29:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:29:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:29:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.97s (batch: 3.90s, save: 8.07s)	[pipeline.py: 300]
-05/10 22:29:49 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s:
-  episode_total: mean=186.14s, total=186.14s, count=1, min=186138.7ms, max=186138.7ms
-  sensor_polling: mean=466.3ms, total=139.89s, count=300, min=404.9ms, max=739.4ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8073.2ms, max=8073.2ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.6ms, max=56.7ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.1ms, max=3901.1ms
-  task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms
-  task_specific_sample: mean=344.0ms, total=344.0ms, count=1, min=344.0ms, max=344.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:29:50 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:29:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:29:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:29:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:29:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:29:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:29:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003126m	[env.py: 870]
-05/10 22:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7144439   0.32578562  0.00312574] yaw=175.6deg	[env.py: 1019]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97511703  0.67801065  0.00312574] yaw=-168.7deg	[env.py: 1019]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.3ms, total=152.3ms	[env.py: 1075]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.326, 0.003)	[env.py: 1079]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg	[env.py: 1082]
-05/10 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
-05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:29:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:29:51 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:29:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:29:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:29:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:29:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:29:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 92.991[deg]	[grasp_sample.py: 539]
-05/10 22:29:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:29:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:29:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:29:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:29:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:29:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.65s (batch: 4.06s, save: 7.59s)	[pipeline.py: 300]
-05/10 22:29:58 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.86s:
-  episode_total: mean=162.52s, total=325.04s, count=2, min=141600.5ms, max=183441.8ms
-  sensor_polling: mean=459.2ms, total=255.77s, count=557, min=384.1ms, max=855.4ms
-  physics_step: mean=22.0ms, total=12.27s, count=557, min=14.0ms, max=82.7ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.3ms, max=7586.3ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.4ms, max=4059.4ms
-  task_sampling: mean=427.8ms, total=855.6ms, count=2, min=406.3ms, max=449.2ms
-  task_specific_sample: mean=424.3ms, total=848.6ms, count=2, min=403.5ms, max=445.1ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=403.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:29:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:29:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:29:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:29:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:29:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:29:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:29:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072703m	[env.py: 870]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:29:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91947962  0.37651981  0.07270264] yaw=178.6deg	[env.py: 1019]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86224067  0.22135202  0.07270264] yaw=173.7deg	[env.py: 1019]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08929711  0.98712135  0.07270264] yaw=-138.6deg	[env.py: 1019]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.1ms	[env.py: 1075]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.377, 0.073)	[env.py: 1079]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
-05/10 22:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:30:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:30:00 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:30:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:30:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:30:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:30:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 82.097[deg]	[grasp_sample.py: 539]
-05/10 22:30:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:30:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:30:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:30:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:30:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.96s (batch: 3.59s, save: 7.37s)	[pipeline.py: 300]
-05/10 22:30:02 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.75s:
-  episode_total: mean=93.72s, total=187.44s, count=2, min=3154.1ms, max=184283.0ms
-  sensor_polling: mean=464.5ms, total=139.36s, count=300, min=390.2ms, max=939.9ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.9ms, max=7368.9ms
-  physics_step: mean=23.3ms, total=6.99s, count=300, min=16.9ms, max=129.9ms
-  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.6ms, max=3592.6ms
-  task_sampling: mean=375.1ms, total=750.2ms, count=2, min=325.7ms, max=424.5ms
-  task_specific_sample: mean=372.2ms, total=744.3ms, count=2, min=323.0ms, max=421.3ms
-  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
-  mj_forward_sync: mean=383.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:30:03 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:30:03 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:30:03 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
-05/10 22:30:03 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5651.59s
-  House averages:
-  episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms
-  sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms
-  save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms
-  physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms
-  save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms
-  task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms
-  task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 22:30:03 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 22:30:03 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5651.59s
-  Worker averages:
-  episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms
-  sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms
-  save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms
-  physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms
-  save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms
-  task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms
-  task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 22:30:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 22:30:06 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
-05/10 22:30:06 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 22:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:30:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:30:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:30:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:30:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:30:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:30:25 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.460[deg]	[grasp_sample.py: 539]
-05/10 22:30:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:30:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:30:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:30:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:30:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:30:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:30:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:31:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:31:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.978s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:31:31 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.578[deg]	[grasp_sample.py: 539]
-05/10 22:31:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:31:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:31:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:31:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:31:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:31:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg]	[grasp_sample.py: 539]
-05/10 22:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:50 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:31:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:31:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:31:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:31:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:31:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:31:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:31:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:31:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:31:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg]	[grasp_sample.py: 539]
-05/10 22:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:31:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:31:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:32:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:32:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.67s (batch: 3.88s, save: 7.80s)	[pipeline.py: 300]
-05/10 22:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
-  episode_total: mean=197.78s, total=197.78s, count=1, min=197785.0ms, max=197785.0ms
-  sensor_polling: mean=452.9ms, total=135.87s, count=300, min=374.8ms, max=750.6ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7795.6ms, max=7795.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=13.7ms, max=56.4ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms
-  task_sampling: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms
-  task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=380.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:32:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:32:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:32:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037057m	[env.py: 870]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85190594  1.06147953  0.03705665] yaw=-157.0deg	[env.py: 1019]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82952976  0.38427707  0.03705665] yaw=179.6deg	[env.py: 1019]
-05/10 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76802732  0.35201408  0.03705665] yaw=174.9deg	[env.py: 1019]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.4ms, total=357.4ms	[env.py: 1075]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.061, 0.037)	[env.py: 1079]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg	[env.py: 1082]
-05/10 22:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:32:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:32:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:32:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:32:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:32:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:32:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.645[m] 93.637[deg]	[grasp_sample.py: 539]
-05/10 22:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:11 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:12 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:32:12 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:32:12 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/10 22:32:12 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5905.38s
-  House averages:
-  episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms
-  sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms
-  save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms
-  physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms
-  save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms
-  task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms
-  task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 22:32:13 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 22:32:13 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5905.38s
-  Worker averages:
-  episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms
-  sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms
-  save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms
-  physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms
-  save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms
-  task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms
-  task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 22:32:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:15 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 22:32:15 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/10 22:32:15 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 22:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:32:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:32:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 22:32:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 22:32:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.36s:
-  episode_total: mean=136.73s, total=136.73s, count=1, min=136727.7ms, max=136727.7ms
-  sensor_polling: mean=446.7ms, total=88.89s, count=199, min=397.7ms, max=689.5ms
-  physics_step: mean=19.4ms, total=3.86s, count=199, min=12.0ms, max=45.1ms
-  task_sampling: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms
-  task_specific_sample: mean=359.7ms, total=359.7ms, count=1, min=359.7ms, max=359.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:32:18 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:32:18 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:32:18 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/10 22:32:18 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5951.41s
-  House averages:
-  episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms
-  sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms
-  physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms
-  save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms
-  save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms
-  task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms
-  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 22:32:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 22:32:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5951.41s
-  Worker averages:
-  episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms
-  sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms
-  physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms
-  save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms
-  save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms
-  task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms
-  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 22:32:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 22:32:20 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/10 22:32:20 INFO: Success rate: 92.31%	[pipeline.py: 1492]
-05/10 22:32:33 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:32:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:32:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:32:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:32:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:32:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.00s (batch: 3.68s, save: 8.32s)	[pipeline.py: 300]
-05/10 22:32:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.22s, total=175.22s, count=1, min=175218.4ms, max=175218.4ms
-  sensor_polling: mean=441.4ms, total=132.43s, count=300, min=363.9ms, max=717.1ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8315.2ms, max=8315.2ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.8ms, max=52.4ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3680.6ms, max=3680.6ms
-  task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
-  task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:32:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:32:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037582m	[env.py: 870]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87416368  0.65693251  0.03758154] yaw=-174.7deg	[env.py: 1019]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91866886  0.24454192  0.03758154] yaw=159.0deg	[env.py: 1019]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10350493  0.99059939  0.03758154] yaw=-129.8deg	[env.py: 1019]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms	[env.py: 1075]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.657, 0.038)	[env.py: 1079]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
-05/10 22:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:32:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:32:47 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:32:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 87.252[deg]	[grasp_sample.py: 539]
-05/10 22:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:32:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:32:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:33:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:33:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:33:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:34:55 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:35:18 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
-05/10 22:35:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:35:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:35:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:35:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
-05/10 22:35:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.21s (batch: 3.38s, save: 7.83s)	[pipeline.py: 300]
-05/10 22:35:30 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
-  episode_total: mean=163.16s, total=163.16s, count=1, min=163163.2ms, max=163163.2ms
-  sensor_polling: mean=396.9ms, total=119.07s, count=300, min=361.5ms, max=576.0ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.7ms, max=7826.7ms
-  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.5ms, max=49.1ms
-  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3381.9ms, max=3381.9ms
-  task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms
-  task_specific_sample: mean=356.4ms, total=356.4ms, count=1, min=356.4ms, max=356.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=379.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:35:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:35:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:35:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063389m	[env.py: 870]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84072344  0.26488108  0.06338932] yaw=158.4deg	[env.py: 1019]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86796254  0.36713108  0.06338932] yaw=182.4deg	[env.py: 1019]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75110181  0.28180705  0.06338932] yaw=164.1deg	[env.py: 1019]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.6ms	[env.py: 1075]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.265, 0.063)	[env.py: 1079]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg	[env.py: 1082]
-05/10 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:35:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:35:32 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:35:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:35:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:35:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:35:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.446[m] 93.772[deg]	[grasp_sample.py: 539]
-05/10 22:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:35:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:35:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:36:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:36:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:37:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:37:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:37:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:37:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:37:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:37:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:37:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.776[deg]	[grasp_sample.py: 539]
-05/10 22:37:20 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:37:22 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:37:22 WARNING: [Worker 0] No trajectory data to save for chunk_009	[pipeline.py: 234]
-05/10 22:37:22 INFO: [Worker 0] Worker 0 completed house 1: 17/17 successful episodes	[pipeline.py: 1323]
-05/10 22:37:22 INFO: [Worker 0] [PROFILE] House 1 complete: 17/17 successful, 17 episodes, total_time=6494.81s
-  House averages:
-  episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms
-  sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms
-  save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms
-  physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms
-  save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms
-  task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms
-  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 22:37:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 22:37:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=6494.81s
-  Worker averages:
-  episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms
-  sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms
-  save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms
-  physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms
-  save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms
-  task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms
-  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 22:37:24 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 22:37:24 INFO: Success count: 17, Total count: 17	[pipeline.py: 1491]
-05/10 22:37:24 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_009/shard_1_of_4.log b/fridge_7/chunk_009/shard_1_of_4.log
deleted file mode 100644
index bbcfce0002056b4d12545826a023cbe86a6d8c72..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_009/shard_1_of_4.log
+++ /dev/null
@@ -1,1855 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
-  shard=1/4  seed=20901  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:47 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 21:37:47 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 21:37:47 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 21:37:47 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7651505da210>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20901,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 21:37:47 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 21:37:47 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130091609436560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130091609436560 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130091609436560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130091609436560 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130091613639952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130091613639952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130091613650000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130091613650000 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130091613650000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130091613650000 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130091613639952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130091613639952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130091609501904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130091609501904 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130091609494480 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130091609494480 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130091609494480 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130091609494480 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130091609501904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130091609501904 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 21:37:48 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d0abfad46a0 at 0x765150b47690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d0abfb01f30 at 0x765150b53310>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d0abfb01f30 at 0x765150ad9410>
-[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096752m
-[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88367914  0.82637319  0.09675237] yaw=-157.1deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78555103  0.71418601  0.09675237] yaw=-177.1deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86616667  0.39236449  0.09675237] yaw=172.3deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=130.7ms, total=175.2ms
-[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.826, 0.097)
-[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 21:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.556s
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.416[m] 78.512[deg]
-[05/10 21:38:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:39:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:41:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 21:41:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 21:41:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:41:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 21:41:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.79s (batch: 4.21s, save: 8.59s)
-[05/10 21:41:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
-  episode_total: mean=236.22s, total=236.22s, count=1, min=236223.9ms, max=236223.9ms
-  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=447.7ms, max=1051.1ms
-  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.1ms, max=8586.1ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=18.6ms, max=70.6ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.1ms, max=4208.1ms
-  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.2ms, max=3508.2ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  task_specific_sample: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=913.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:41:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:41:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:41:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 21:41:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:41:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:41:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040138m
-[05/10 21:41:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:41:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:41:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:41:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92959355  0.48000957  0.04013848] yaw=190.2deg
-[05/10 21:41:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:41:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85333759  0.44740435  0.04013848] yaw=170.6deg
-[05/10 21:41:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:41:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04978676  1.11991253  0.04013848] yaw=-131.8deg
-[05/10 21:41:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:41:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:41:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms
-[05/10 21:41:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.480, 0.040)
-[05/10 21:41:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 190.2 deg
-[05/10 21:41:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.773m
-[05/10 21:41:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:41:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 21:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 21:41:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:41:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:41:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:41:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True
-[05/10 21:41:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.368[m] 87.589[deg]
-[05/10 21:41:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:42:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:42:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:43:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:43:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:43:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:43:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/10 21:43:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.449s, found feasible grasp: True
-[05/10 21:43:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.452[deg]
-[05/10 21:43:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:43:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:43:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:44:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:44:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:44:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 21:44:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:45:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:45:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:45:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.47s (batch: 4.36s, save: 9.11s)
-[05/10 21:45:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=200.65s, total=200.65s, count=1, min=200645.7ms, max=200645.7ms
-  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=459.1ms, max=723.9ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9111.5ms, max=9111.5ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=15.6ms, max=54.9ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.8ms, max=4357.8ms
-  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  task_specific_sample: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=426.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:45:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:45:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:45:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 21:45:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:45:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:45:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098763m
-[05/10 21:45:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:45:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:45:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8174192   0.54966417  0.09876346] yaw=-167.1deg
-[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84673044  0.86195046  0.09876346] yaw=-150.9deg
-[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85788473  0.94650947  0.09876346] yaw=-148.0deg
-[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:45:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:45:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.3ms, total=185.3ms
-[05/10 21:45:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.550, 0.099)
-[05/10 21:45:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg
-[05/10 21:45:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:45:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:45:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:45:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 21:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 21:45:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:45:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:45:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:45:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True
-[05/10 21:45:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 97.656[deg]
-[05/10 21:45:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:45:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:45:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:46:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:47:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:48:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:48:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 21:48:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:48:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:48:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:48:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.32s (batch: 4.42s, save: 9.89s)
-[05/10 21:48:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
-  episode_total: mean=191.90s, total=191.90s, count=1, min=191900.9ms, max=191900.9ms
-  sensor_polling: mean=483.6ms, total=145.08s, count=300, min=442.8ms, max=652.1ms
-  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9893.8ms, max=9893.8ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=35.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4423.2ms, max=4423.2ms
-  task_sampling: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms
-  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=495.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:48:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:48:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/10 21:48:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:48:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:48:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004371m
-[05/10 21:48:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:48:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:48:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94898013  0.3890341   0.00437123] yaw=180.9deg
-[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95540073  1.06488743  0.00437123] yaw=-142.6deg
-[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81399103  0.06148873  0.00437123] yaw=162.9deg
-[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:48:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:48:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=247.0ms, total=247.0ms
-[05/10 21:48:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.389, 0.004)
-[05/10 21:48:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg
-[05/10 21:48:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:48:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 21:48:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:48:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:48:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:48:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True
-[05/10 21:48:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 90.054[deg]
-[05/10 21:48:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:50:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:50:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:50:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:50:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:50:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/10 21:50:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.645s, found feasible grasp: True
-[05/10 21:50:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.538[deg]
-[05/10 21:50:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:51:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:51:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:51:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:51:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:51:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/10 21:51:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.945s, found feasible grasp: True
-[05/10 21:51:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.030[deg]
-[05/10 21:51:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:51:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:52:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:52:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 21:52:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:52:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:52:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:52:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.79s (batch: 4.51s, save: 9.28s)
-[05/10 21:52:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=243.26s, total=243.26s, count=1, min=243262.4ms, max=243262.4ms
-  sensor_polling: mean=528.7ms, total=158.60s, count=300, min=443.1ms, max=1119.9ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.6ms, max=9275.6ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=15.6ms, max=84.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.5ms, max=4511.5ms
-  task_sampling: mean=555.9ms, total=555.9ms, count=1, min=555.9ms, max=555.9ms
-  task_specific_sample: mean=550.7ms, total=550.7ms, count=1, min=550.7ms, max=550.7ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:52:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:52:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:52:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 21:52:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:52:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:52:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048621m
-[05/10 21:52:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:52:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:52:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95882386  0.21642087  0.04862074] yaw=156.4deg
-[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99711966  0.1160793   0.04862074] yaw=154.3deg
-[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79345937  0.05295096  0.04862074] yaw=147.5deg
-[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:52:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:52:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms
-[05/10 21:52:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.216, 0.049)
-[05/10 21:52:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg
-[05/10 21:52:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:52:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:52:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 21:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 21:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 21:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True
-[05/10 21:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.337[m] 82.136[deg]
-[05/10 21:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:53:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:54:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:54:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:54:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 21:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.458s, found feasible grasp: True
-[05/10 21:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.112[deg]
-[05/10 21:54:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:54:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:54:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:55:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:55:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:55:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:55:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps
-[05/10 21:55:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.664s, found feasible grasp: True
-[05/10 21:55:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.772[deg]
-[05/10 21:55:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:55:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:55:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/10 21:55:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:55:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:55:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m
-[05/10 21:55:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:55:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:55:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70739797  0.61021926  0.0286643 ] yaw=-175.3deg
-[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82686771  0.30506055  0.0286643 ] yaw=178.5deg
-[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8239495   0.05751726  0.0286643 ] yaw=147.2deg
-[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:55:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:55:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=452.1ms, total=452.2ms
-[05/10 21:55:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.610, 0.029)
-[05/10 21:55:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.3 deg
-[05/10 21:55:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.003m
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:55:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 21:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 21:55:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:55:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:55:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps
-[05/10 21:55:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.355s, found feasible grasp: True
-[05/10 21:55:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 92.806[deg]
-[05/10 21:55:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:56:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:58:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:58:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 21:58:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:58:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:58:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.85s (batch: 5.73s, save: 10.12s)
-[05/10 21:58:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.20s:
-  episode_total: mean=188.69s, total=377.38s, count=2, min=169579.9ms, max=207803.9ms
-  sensor_polling: mean=520.5ms, total=275.35s, count=529, min=440.1ms, max=965.8ms
-  physics_step: mean=24.1ms, total=12.75s, count=529, min=14.1ms, max=82.2ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10118.7ms, max=10118.7ms
-  save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5731.7ms, max=5731.7ms
-  task_sampling: mean=597.6ms, total=1.20s, count=2, min=471.3ms, max=723.9ms
-  task_specific_sample: mean=593.2ms, total=1.19s, count=2, min=466.1ms, max=720.3ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms
-  mj_forward_sync: mean=568.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:58:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:58:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 21:58:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:58:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:58:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097207m
-[05/10 21:58:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:58:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:58:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80486043  0.40697397  0.09720734] yaw=167.8deg
-[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97649739  0.13381     0.09720734] yaw=160.4deg
-[05/10 21:58:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:58:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8630558   1.14903766  0.09720734] yaw=-149.4deg
-[05/10 21:58:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:58:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:58:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms
-[05/10 21:58:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.407, 0.097)
-[05/10 21:58:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg
-[05/10 21:58:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m
-[05/10 21:58:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:58:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 21:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:58:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
-[05/10 21:58:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.494[m] 97.560[deg]
-[05/10 21:58:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:00:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:00:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:01:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:01:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:01:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:01:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 22:01:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True
-[05/10 22:01:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]
-[05/10 22:01:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:01:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:01:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:01:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:02:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:02:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:02:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:02:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.55s (batch: 5.48s, save: 11.07s)
-[05/10 22:02:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.67s:
-  episode_total: mean=224.15s, total=224.15s, count=1, min=224145.8ms, max=224145.8ms
-  sensor_polling: mean=526.0ms, total=157.81s, count=300, min=436.6ms, max=1027.1ms
-  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11069.9ms, max=11069.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=85.9ms
-  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5483.5ms, max=5483.5ms
-  task_sampling: mean=665.8ms, total=665.8ms, count=1, min=665.8ms, max=665.8ms
-  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=689.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:02:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:02:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:02:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 22:02:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:02:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:02:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053474m
-[05/10 22:02:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:02:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:02:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97236745  0.28452009  0.0534735 ] yaw=165.4deg
-[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03148388  0.8365497   0.0534735 ] yaw=-158.1deg
-[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:02:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8229714   0.65000169  0.0534735 ] yaw=-175.8deg
-[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:02:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:02:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.3ms, total=102.4ms
-[05/10 22:02:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.285, 0.053)
-[05/10 22:02:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
-[05/10 22:02:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/10 22:02:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:02:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 22:02:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:02:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:02:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 22:02:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 22:02:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.342[m] 98.708[deg]
-[05/10 22:02:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:03:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:04:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:04:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:04:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:04:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
-[05/10 22:04:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.398s, found feasible grasp: True
-[05/10 22:04:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.560[deg]
-[05/10 22:04:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:04:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:04:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:04:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 22:04:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:04:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:04:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003035m
-[05/10 22:04:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:04:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:04:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:04:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83256157  0.28707409  0.00303471] yaw=159.2deg
-[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05470282  1.15865546  0.00303471] yaw=-122.8deg
-[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77008942  0.69225005  0.00303471] yaw=-168.1deg
-[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:04:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:04:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms
-[05/10 22:04:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.287, 0.003)
-[05/10 22:04:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg
-[05/10 22:04:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:04:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:04:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:04:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/10 22:04:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:04:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:04:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 22:04:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
-[05/10 22:04:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 95.748[deg]
-[05/10 22:04:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:05:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:07:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:07:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:07:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:07:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:07:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:07:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:07:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.77s (batch: 4.22s, save: 8.55s)
-[05/10 22:07:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.19s:
-  episode_total: mean=155.88s, total=311.76s, count=2, min=101597.6ms, max=210163.2ms
-  sensor_polling: mean=532.3ms, total=241.67s, count=454, min=449.0ms, max=1024.8ms
-  physics_step: mean=26.8ms, total=12.15s, count=454, min=15.1ms, max=98.1ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.3ms, max=8549.3ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4216.9ms, max=4216.9ms
-  task_sampling: mean=593.9ms, total=1.19s, count=2, min=444.7ms, max=743.0ms
-  task_specific_sample: mean=590.1ms, total=1.18s, count=2, min=440.2ms, max=739.9ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.8ms
-  mj_forward_sync: mean=520.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:07:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:07:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:07:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 22:07:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:07:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:07:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052198m
-[05/10 22:07:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:07:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:07:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10353015  1.22202034  0.05219789] yaw=-133.8deg
-[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81590013  0.69408719  0.05219789] yaw=-168.3deg
-[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04813219  0.95348317  0.05219789] yaw=-143.9deg
-[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:07:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:07:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.7ms, total=415.7ms
-[05/10 22:07:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.222, 0.052)
-[05/10 22:07:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg
-[05/10 22:07:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.952m
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:07:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:07:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 22:07:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
-[05/10 22:07:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:07:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:07:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
-[05/10 22:07:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.587s, found feasible grasp: True
-[05/10 22:07:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.465[deg]
-[05/10 22:07:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:09:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:09:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:10:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:10:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:10:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:10:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:10:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/10 22:10:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.524s, found feasible grasp: True
-[05/10 22:10:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]
-[05/10 22:10:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:10:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:10:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:10:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:10:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:10:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 22:10:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.633s, found feasible grasp: True
-[05/10 22:10:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.369[deg]
-[05/10 22:10:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:11:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:11:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:11:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 22:11:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:11:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:11:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020140m
-[05/10 22:11:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:11:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:11:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79666439  0.71377634  0.02013954] yaw=-174.9deg
-[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11659464  0.95457088  0.02013954] yaw=-141.8deg
-[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04918715  1.3036637   0.02013954] yaw=-126.0deg
-[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:11:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:11:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.2ms, total=353.2ms
-[05/10 22:11:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.714, 0.020)
-[05/10 22:11:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg
-[05/10 22:11:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:11:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:11:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 22:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/10 22:11:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:11:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:11:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 22:11:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True
-[05/10 22:11:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.526[m] 91.852[deg]
-[05/10 22:11:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:14:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:14:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:14:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.32s (batch: 4.05s, save: 8.27s)
-[05/10 22:14:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.40s:
-  episode_total: mean=196.44s, total=392.89s, count=2, min=188628.5ms, max=204258.3ms
-  sensor_polling: mean=519.6ms, total=305.01s, count=587, min=433.6ms, max=1162.5ms
-  physics_step: mean=25.3ms, total=14.84s, count=587, min=15.8ms, max=98.2ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.2ms, max=8274.2ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.3ms, max=4046.3ms
-  task_sampling: mean=698.4ms, total=1.40s, count=2, min=630.9ms, max=766.0ms
-  task_specific_sample: mean=694.7ms, total=1.39s, count=2, min=628.0ms, max=761.4ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
-  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 22:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068913m
-[05/10 22:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66205625  0.28780424  0.06891308] yaw=180.0deg
-[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01441333  0.94633139  0.06891308] yaw=-152.6deg
-[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78197963  1.05650001  0.06891308] yaw=-153.8deg
-[05/10 22:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.1ms
-[05/10 22:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.288, 0.069)
-[05/10 22:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg
-[05/10 22:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.058m
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:14:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 22:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 22:14:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:14:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:14:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 22:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True
-[05/10 22:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.672[m] 100.337[deg]
-[05/10 22:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:15:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:16:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:17:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:17:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:17:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:17:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:17:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:17:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.17s (batch: 3.93s, save: 7.24s)
-[05/10 22:17:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s:
-  episode_total: mean=183.10s, total=183.10s, count=1, min=183100.7ms, max=183100.7ms
-  sensor_polling: mean=465.8ms, total=139.74s, count=300, min=397.0ms, max=713.6ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7243.0ms, max=7243.0ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.5ms, max=74.2ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3926.8ms, max=3926.8ms
-  task_sampling: mean=331.9ms, total=331.9ms, count=1, min=331.9ms, max=331.9ms
-  task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:17:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:17:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:17:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/10 22:17:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:17:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:17:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039474m
-[05/10 22:17:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:17:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:17:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71937425  0.8776568   0.03947445] yaw=-161.8deg
-[05/10 22:17:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8209484   0.92103074  0.03947445] yaw=-156.1deg
-[05/10 22:17:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:17:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:17:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms
-[05/10 22:17:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.878, 0.039)
-[05/10 22:17:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg
-[05/10 22:17:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:17:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:17:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:17:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 22:17:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 22:17:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:17:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:17:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:17:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.622s, found feasible grasp: True
-[05/10 22:17:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 76.859[deg]
-[05/10 22:17:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:20:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:20:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:20:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:20:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:20:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:20:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:20:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.56s (batch: 4.01s, save: 7.54s)
-[05/10 22:20:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
-  episode_total: mean=185.71s, total=185.71s, count=1, min=185714.5ms, max=185714.5ms
-  sensor_polling: mean=469.5ms, total=140.85s, count=300, min=396.8ms, max=895.8ms
-  save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.5ms, max=7541.5ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.3ms, max=53.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.6ms, max=4014.6ms
-  task_sampling: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms
-  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:20:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:20:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
-[05/10 22:20:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:20:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:20:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099678m
-[05/10 22:20:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:20:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:20:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93918096  0.41313221  0.09967764] yaw=177.7deg
-[05/10 22:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92139449  0.22802306  0.09967764] yaw=155.5deg
-[05/10 22:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:20:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:20:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.6ms, total=159.7ms
-[05/10 22:20:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.413, 0.100)
-[05/10 22:20:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg
-[05/10 22:20:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:20:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 22:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 22:20:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:20:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:20:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True
-[05/10 22:20:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 101.518[deg]
-[05/10 22:20:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:21:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:22:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:22:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:22:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:22:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:22:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:22:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps
-[05/10 22:22:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.379s, found feasible grasp: True
-[05/10 22:22:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.572[deg]
-[05/10 22:22:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:22:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:22:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:22:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 22:22:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:22:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:22:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052027m
-[05/10 22:22:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:22:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:22:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80715854  0.70576702  0.0520273 ] yaw=-166.2deg
-[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73822543  0.39930126  0.0520273 ] yaw=172.9deg
-[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66684469  0.73782004  0.0520273 ] yaw=-161.1deg
-[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:22:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:22:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms
-[05/10 22:22:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.706, 0.052)
-[05/10 22:22:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg
-[05/10 22:22:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:22:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:22:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 22:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 22:22:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:22:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:22:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 22:22:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
-[05/10 22:22:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 85.816[deg]
-[05/10 22:22:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:23:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:24:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:25:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:25:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:25:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.19s, save: 7.66s)
-[05/10 22:25:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
-  episode_total: mean=146.96s, total=293.93s, count=2, min=110581.8ms, max=183345.7ms
-  sensor_polling: mean=464.9ms, total=220.82s, count=475, min=392.7ms, max=820.5ms
-  physics_step: mean=21.7ms, total=10.30s, count=475, min=16.6ms, max=58.2ms
-  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7657.8ms, max=7657.8ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.8ms, max=4188.8ms
-  task_sampling: mean=423.5ms, total=847.0ms, count=2, min=411.4ms, max=435.6ms
-  task_specific_sample: mean=419.9ms, total=839.9ms, count=2, min=408.1ms, max=431.8ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms
-  mj_forward_sync: mean=479.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:25:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:25:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:25:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:25:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/10 22:25:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:25:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:25:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056537m
-[05/10 22:25:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:25:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:25:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:25:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90325356  0.63092802  0.05653677] yaw=-180.4deg
-[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88350806  1.0012928   0.05653677] yaw=-147.5deg
-[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:25:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98740937  0.11481577  0.05653677] yaw=152.4deg
-[05/10 22:25:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:25:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:25:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms
-[05/10 22:25:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.631, 0.057)
-[05/10 22:25:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg
-[05/10 22:25:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:25:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:25:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:25:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 22:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 22:25:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:25:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:25:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:25:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.413s, found feasible grasp: True
-[05/10 22:25:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.389[m] 92.246[deg]
-[05/10 22:25:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:26:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:26:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:28:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:28:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:28:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:28:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 22:28:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:28:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:28:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.10s (batch: 4.01s, save: 8.09s)
-[05/10 22:28:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=188.20s, total=188.20s, count=1, min=188203.3ms, max=188203.3ms
-  sensor_polling: mean=455.9ms, total=136.33s, count=299, min=393.1ms, max=887.2ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8094.4ms, max=8094.4ms
-  physics_step: mean=22.4ms, total=6.71s, count=299, min=15.8ms, max=47.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.0ms, max=4007.0ms
-  task_sampling: mean=369.9ms, total=369.9ms, count=1, min=369.9ms, max=369.9ms
-  task_specific_sample: mean=366.5ms, total=366.5ms, count=1, min=366.5ms, max=366.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:28:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:28:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:28:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:28:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)
-[05/10 22:28:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:28:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:28:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066981m
-[05/10 22:28:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:28:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:28:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92669531  0.49967366  0.0669812 ] yaw=-173.4deg
-[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88072255  1.13810888  0.0669812 ] yaw=-141.3deg
-[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:28:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:28:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65752035  0.79630449  0.0669812 ] yaw=-171.4deg
-[05/10 22:28:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:28:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:28:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.0ms, total=115.0ms
-[05/10 22:28:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.500, 0.067)
-[05/10 22:28:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg
-[05/10 22:28:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:28:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:28:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 22:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 22:28:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:28:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:28:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/10 22:28:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True
-[05/10 22:28:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 96.882[deg]
-[05/10 22:28:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:29:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:30:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:30:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:30:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:30:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:30:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:30:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/10 22:30:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True
-[05/10 22:30:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.460[deg]
-[05/10 22:30:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:31:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:31:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:31:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
-[05/10 22:31:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:32:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:32:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:32:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.67s (batch: 3.88s, save: 7.80s)
-[05/10 22:32:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
-  episode_total: mean=197.78s, total=197.78s, count=1, min=197785.0ms, max=197785.0ms
-  sensor_polling: mean=452.9ms, total=135.87s, count=300, min=374.8ms, max=750.6ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7795.6ms, max=7795.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=13.7ms, max=56.4ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms
-  task_sampling: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms
-  task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=380.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:32:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:32:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:32:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:32:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:32:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:32:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:32:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 22:32:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:32:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:32:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037057m
-[05/10 22:32:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:32:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:32:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:32:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85190594  1.06147953  0.03705665] yaw=-157.0deg
-[05/10 22:32:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82952976  0.38427707  0.03705665] yaw=179.6deg
-[05/10 22:32:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:32:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76802732  0.35201408  0.03705665] yaw=174.9deg
-[05/10 22:32:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:32:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:32:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.4ms, total=357.4ms
-[05/10 22:32:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.061, 0.037)
-[05/10 22:32:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg
-[05/10 22:32:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m
-[05/10 22:32:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:32:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:32:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:32:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:32:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:32:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 22:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.136s
-[05/10 22:32:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:32:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:32:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 22:32:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True
-[05/10 22:32:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.645[m] 93.637[deg]
-[05/10 22:32:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:32:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:32:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:32:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/10 22:32:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5905.38s
-  House averages:
-  episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms
-  sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms
-  save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms
-  physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms
-  save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms
-  task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms
-  task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:32:13 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 22:32:13 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5905.38s
-  Worker averages:
-  episode_total: mean=179.64s, total=3233.56s, count=18, min=6614.6ms, max=243262.4ms
-  sensor_polling: mean=497.6ms, total=2360.39s, count=4744, min=374.8ms, max=1162.5ms
-  save_trajectories: mean=8.71s, total=113.21s, count=13, min=7243.0ms, max=11069.9ms
-  physics_step: mean=23.6ms, total=112.02s, count=4744, min=13.7ms, max=98.2ms
-  save_batch_prep: mean=4.38s, total=56.99s, count=13, min=3876.8ms, max=5731.7ms
-  task_sampling: mean=694.0ms, total=12.49s, count=18, min=331.9ms, max=3508.2ms
-  task_specific_sample: mean=524.8ms, total=9.45s, count=18, min=328.4ms, max=761.4ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
-  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
-  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
-  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
-  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
-  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
-  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
-  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
-  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  mj_forward_sync: mean=515.7us, total=9.3ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:32:15 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 22:32:15 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/10 22:32:15 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009
-==========================================
diff --git a/fridge_7/chunk_009/shard_2_of_4.log b/fridge_7/chunk_009/shard_2_of_4.log
deleted file mode 100644
index bd75e437dd5bf2b758d281eba5faf2a46989fde9..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_009/shard_2_of_4.log
+++ /dev/null
@@ -1,1781 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
-  shard=2/4  seed=20902  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:46 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 21:37:46 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 21:37:46 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 21:37:46 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7fb4054f9350>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20902,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 21:37:46 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 21:37:46 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 140411153251408 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140411153251408 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 140411153251408 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140411153251408 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 140411157723280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140411157723280 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140411157724560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140411157724560 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140411157724560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140411157724560 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140411157723280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140411157723280 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140411153416976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140411153416976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140411153417680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140411153417680 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 140411153417680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140411153417680 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140411153416976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140411153416976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5a5be1e7b420 at 0x7fb405737690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5a5be1e7ced0 at 0x7fb405743010>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5a5be1e7ced0 at 0x7fb4056cd390>
-[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013058m
-[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70194614  0.65822738  0.01305819] yaw=-161.9deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.945628    0.32045988  0.01305819] yaw=170.1deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=63.3ms, retries=215.3ms, total=278.6ms
-[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.658, 0.013)
-[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 21:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.017s
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:38:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 87.428[deg]
-[05/10 21:38:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:41:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 21:41:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:41:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:41:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 21:41:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.67s (batch: 4.39s, save: 8.28s)
-[05/10 21:41:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.62s:
-  episode_total: mean=235.16s, total=235.16s, count=1, min=235156.8ms, max=235156.8ms
-  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=436.3ms, max=880.3ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8276.1ms, max=8276.1ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.8ms, max=68.0ms
-  task_sampling: mean=4.62s, total=4.62s, count=1, min=4624.7ms, max=4624.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.4ms, max=4390.4ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  task_specific_sample: mean=633.0ms, total=633.0ms, count=1, min=633.0ms, max=633.0ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  mj_forward_sync: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=55.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/10 21:41:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:41:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 21:41:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:41:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:41:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058285m
-[05/10 21:41:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:41:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:41:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80242508  0.29248231  0.05828515] yaw=164.4deg
-[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89481798  0.31285414  0.05828515] yaw=174.5deg
-[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97862955  0.92767845  0.05828515] yaw=-145.9deg
-[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:41:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:41:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms
-[05/10 21:41:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.292, 0.058)
-[05/10 21:41:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg
-[05/10 21:41:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:41:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 21:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 21:41:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:41:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:41:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:41:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 21:41:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.475[m] 96.364[deg]
-[05/10 21:41:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:44:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:44:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:44:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:44:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:44:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:44:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:44:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.41s (batch: 4.30s, save: 9.10s)
-[05/10 21:44:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.51s:
-  episode_total: mean=191.47s, total=191.47s, count=1, min=191470.9ms, max=191470.9ms
-  sensor_polling: mean=478.1ms, total=143.44s, count=300, min=441.9ms, max=769.2ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.7ms, max=9101.7ms
-  physics_step: mean=22.9ms, total=6.86s, count=300, min=14.5ms, max=35.1ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.2ms, max=4304.2ms
-  task_sampling: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
-  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=393.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:44:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:44:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:44:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 21:44:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:44:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:44:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068393m
-[05/10 21:44:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:44:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:44:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70968768  0.74786147  0.06839309] yaw=-157.7deg
-[05/10 21:44:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:44:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179878  1.00818012  0.06839309] yaw=-147.2deg
-[05/10 21:44:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77158331  0.43589665  0.06839309] yaw=187.6deg
-[05/10 21:44:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:44:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:44:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.4ms
-[05/10 21:44:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.748, 0.068)
-[05/10 21:44:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg
-[05/10 21:44:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.028m
-[05/10 21:44:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:44:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 21:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:44:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:44:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:44:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 21:44:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True
-[05/10 21:44:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 84.882[deg]
-[05/10 21:44:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:47:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:47:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:47:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:47:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:48:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:48:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:48:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.00s (batch: 4.46s, save: 8.54s)
-[05/10 21:48:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=188.83s, total=188.83s, count=1, min=188833.0ms, max=188833.0ms
-  sensor_polling: mean=475.0ms, total=142.51s, count=300, min=440.0ms, max=672.3ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8540.0ms, max=8540.0ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=18.3ms, max=29.2ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.9ms, max=4462.9ms
-  task_sampling: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
-  task_specific_sample: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:48:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:48:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 21:48:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:48:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:48:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052779m
-[05/10 21:48:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:48:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:48:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01494016  0.93107802  0.05277918] yaw=-138.4deg
-[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76951487  0.58651569  0.05277918] yaw=-180.5deg
-[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90276789  0.53772231  0.05277918] yaw=-169.1deg
-[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:48:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:48:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms
-[05/10 21:48:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.931, 0.053)
-[05/10 21:48:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg
-[05/10 21:48:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:48:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 21:48:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 21:48:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:48:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:48:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 21:48:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True
-[05/10 21:48:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.710[deg]
-[05/10 21:48:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:50:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:51:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:51:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 21:51:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:51:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.01s (batch: 4.16s, save: 10.85s)
-[05/10 21:51:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
-  episode_total: mean=207.69s, total=207.69s, count=1, min=207686.4ms, max=207686.4ms
-  sensor_polling: mean=528.6ms, total=158.06s, count=299, min=445.2ms, max=954.9ms
-  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.7ms, max=10850.7ms
-  physics_step: mean=25.8ms, total=7.73s, count=299, min=14.9ms, max=82.4ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.8ms, max=4157.8ms
-  task_sampling: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
-  task_specific_sample: mean=493.5ms, total=493.5ms, count=1, min=493.5ms, max=493.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:51:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:51:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 21:51:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:51:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:51:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012628m
-[05/10 21:51:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:51:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:51:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67366714  0.639719    0.01262768] yaw=-168.5deg
-[05/10 21:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97139325  1.04592761  0.01262768] yaw=-140.9deg
-[05/10 21:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:51:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:51:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms
-[05/10 21:51:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.640, 0.013)
-[05/10 21:51:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg
-[05/10 21:51:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:51:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 21:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 21:51:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:51:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:51:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 21:51:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True
-[05/10 21:51:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 97.840[deg]
-[05/10 21:51:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:52:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:53:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:54:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:54:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:54:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:54:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:55:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:55:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:55:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.53s (batch: 4.39s, save: 9.14s)
-[05/10 21:55:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
-  episode_total: mean=207.91s, total=207.91s, count=1, min=207907.9ms, max=207907.9ms
-  sensor_polling: mean=527.1ms, total=158.14s, count=300, min=439.9ms, max=1075.6ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.7ms, max=9144.7ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=17.6ms, max=92.1ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.1ms, max=4386.1ms
-  task_sampling: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
-  task_specific_sample: mean=506.6ms, total=506.6ms, count=1, min=506.6ms, max=506.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:55:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:55:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 21:55:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:55:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:55:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m
-[05/10 21:55:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:55:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:55:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90144487  0.55648879  0.03404549] yaw=-167.8deg
-[05/10 21:55:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:55:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01136806  0.86071748  0.03404549] yaw=-148.9deg
-[05/10 21:55:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:55:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.0ms, total=229.1ms
-[05/10 21:55:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.556, 0.034)
-[05/10 21:55:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
-[05/10 21:55:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:55:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 21:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 21:55:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:55:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:55:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 21:55:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True
-[05/10 21:55:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 80.358[deg]
-[05/10 21:55:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:57:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:58:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 21:58:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
-[05/10 21:58:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:58:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.87s (batch: 4.16s, save: 9.72s)
-[05/10 21:58:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=200.29s, total=200.29s, count=1, min=200288.8ms, max=200288.8ms
-  sensor_polling: mean=522.4ms, total=150.97s, count=289, min=444.7ms, max=1019.5ms
-  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.4ms, max=9716.4ms
-  physics_step: mean=24.3ms, total=7.01s, count=289, min=15.6ms, max=117.9ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.4ms, max=4158.4ms
-  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
-  task_specific_sample: mean=585.3ms, total=585.3ms, count=1, min=585.3ms, max=585.3ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=707.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:58:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:58:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:58:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 21:58:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:58:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:58:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037727m
-[05/10 21:58:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:58:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:58:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75472367  0.15853611  0.03772694] yaw=169.7deg
-[05/10 21:58:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88006506  0.99104522  0.03772694] yaw=-156.9deg
-[05/10 21:58:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:58:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:58:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=828.8ms, total=828.9ms
-[05/10 21:58:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.159, 0.038)
-[05/10 21:58:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg
-[05/10 21:58:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
-[05/10 21:58:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:58:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 21:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
-[05/10 21:58:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:58:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:58:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps
-[05/10 21:58:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True
-[05/10 21:58:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.567[m] 84.527[deg]
-[05/10 21:58:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:59:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:01:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:01:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:01:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:01:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:02:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:02:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.79s (batch: 5.20s, save: 10.59s)
-[05/10 22:02:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.21s:
-  episode_total: mean=214.52s, total=214.52s, count=1, min=214517.4ms, max=214517.4ms
-  sensor_polling: mean=524.3ms, total=157.28s, count=300, min=451.6ms, max=911.1ms
-  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.8ms, max=10590.8ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=17.8ms, max=84.9ms
-  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5197.7ms, max=5197.7ms
-  task_sampling: mean=1.21s, total=1.21s, count=1, min=1211.0ms, max=1211.0ms
-  task_specific_sample: mean=1.21s, total=1.21s, count=1, min=1206.0ms, max=1206.0ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=583.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:02:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:02:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:02:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 22:02:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:02:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:02:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025228m
-[05/10 22:02:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:02:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:02:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:02:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88835828  0.86658547  0.02522849] yaw=-157.2deg
-[05/10 22:02:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89469971  0.11005201  0.02522849] yaw=165.9deg
-[05/10 22:02:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:02:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:02:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms
-[05/10 22:02:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.867, 0.025)
-[05/10 22:02:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg
-[05/10 22:02:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
-[05/10 22:02:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:02:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/10 22:02:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:02:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:02:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 22:02:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
-[05/10 22:02:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 81.931[deg]
-[05/10 22:02:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:04:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:05:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:05:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:05:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:05:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:05:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:05:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.21s (batch: 4.80s, save: 9.40s)
-[05/10 22:05:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
-  episode_total: mean=210.25s, total=210.25s, count=1, min=210249.8ms, max=210249.8ms
-  sensor_polling: mean=516.8ms, total=155.03s, count=300, min=447.5ms, max=856.3ms
-  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9402.6ms, max=9402.6ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=14.1ms, max=83.9ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4804.6ms, max=4804.6ms
-  task_sampling: mean=559.3ms, total=559.3ms, count=1, min=559.3ms, max=559.3ms
-  task_specific_sample: mean=555.1ms, total=555.1ms, count=1, min=555.1ms, max=555.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:05:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:05:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:05:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/10 22:05:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:05:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:05:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017816m
-[05/10 22:05:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:05:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:05:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:05:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94152225  0.24854711  0.01781618] yaw=173.8deg
-[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9563275   0.25922079  0.01781618] yaw=173.6deg
-[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71388884  0.75362189  0.01781618] yaw=-171.9deg
-[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:05:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:05:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.2ms
-[05/10 22:05:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.249, 0.018)
-[05/10 22:05:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg
-[05/10 22:05:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:05:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:05:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:05:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:05:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.152s
-[05/10 22:05:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:05:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:05:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/10 22:05:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True
-[05/10 22:05:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 97.769[deg]
-[05/10 22:05:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:07:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:07:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:07:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:07:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:07:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 22:07:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.442s, found feasible grasp: True
-[05/10 22:07:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.445[deg]
-[05/10 22:07:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:07:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:07:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:07:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 22:07:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True
-[05/10 22:07:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.455[deg]
-[05/10 22:07:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:07:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:07:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:08:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:08:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 22:08:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:08:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:08:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
-[05/10 22:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.076s, found feasible grasp: True
-[05/10 22:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.005[deg]
-[05/10 22:08:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:09:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:09:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:09:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:09:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:09:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:09:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:09:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 17.65s (batch: 4.41s, save: 13.24s)
-[05/10 22:09:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s:
-  episode_total: mean=245.38s, total=245.38s, count=1, min=245377.0ms, max=245377.0ms
-  sensor_polling: mean=535.2ms, total=160.56s, count=300, min=448.4ms, max=1169.7ms
-  save_trajectories: mean=13.24s, total=13.24s, count=1, min=13244.3ms, max=13244.3ms
-  physics_step: mean=24.3ms, total=7.28s, count=300, min=13.5ms, max=116.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4407.8ms, max=4407.8ms
-  task_sampling: mean=656.7ms, total=656.7ms, count=1, min=656.7ms, max=656.7ms
-  task_specific_sample: mean=652.2ms, total=652.2ms, count=1, min=652.2ms, max=652.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=552.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:09:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:09:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:09:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 22:09:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:09:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:09:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046465m
-[05/10 22:09:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:09:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:09:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83966533  0.72946256  0.04646467] yaw=-156.9deg
-[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85826305  0.32023197  0.04646467] yaw=180.4deg
-[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9128542   0.13184302  0.04646467] yaw=146.0deg
-[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:09:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:09:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.5ms
-[05/10 22:09:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.729, 0.046)
-[05/10 22:09:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg
-[05/10 22:09:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:09:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:09:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:09:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 22:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 22:09:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:09:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:09:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/10 22:09:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 22:09:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 81.600[deg]
-[05/10 22:09:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:10:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:12:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:12:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:12:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:12:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:13:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:13:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:13:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.81s (batch: 4.97s, save: 9.84s)
-[05/10 22:13:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
-  episode_total: mean=205.89s, total=205.89s, count=1, min=205886.0ms, max=205886.0ms
-  sensor_polling: mean=504.9ms, total=151.48s, count=300, min=437.0ms, max=897.5ms
-  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.9ms, max=9844.9ms
-  physics_step: mean=23.7ms, total=7.11s, count=300, min=17.9ms, max=66.7ms
-  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4967.5ms, max=4967.5ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=452.3ms, total=452.3ms, count=1, min=452.3ms, max=452.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:13:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:13:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:13:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 22:13:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:13:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:13:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000358m
-[05/10 22:13:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:13:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:13:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.57590381e-01  1.01017207e+00  3.58128945e-04] yaw=-152.3deg
-[05/10 22:13:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00865127e+00  1.18409291e-01  3.58128945e-04] yaw=162.8deg
-[05/10 22:13:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:13:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:13:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms
-[05/10 22:13:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.010, 0.000)
-[05/10 22:13:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg
-[05/10 22:13:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:13:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:13:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:13:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 22:13:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 22:13:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:13:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:13:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 22:13:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.671s, found feasible grasp: True
-[05/10 22:13:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.534[m] 81.095[deg]
-[05/10 22:13:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:14:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:15:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:16:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:16:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:16:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:16:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:16:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:16:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.60s (batch: 4.82s, save: 10.78s)
-[05/10 22:16:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=189.06s, total=189.06s, count=1, min=189059.5ms, max=189059.5ms
-  sensor_polling: mean=468.3ms, total=140.50s, count=300, min=391.0ms, max=768.6ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10777.2ms, max=10777.2ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.5ms, max=72.5ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.9ms, max=4823.9ms
-  task_sampling: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms
-  task_specific_sample: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/10 22:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047320m
-[05/10 22:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85333776  0.09159972  0.04731973] yaw=160.2deg
-[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81866705  0.68803712  0.04731973] yaw=-173.2deg
-[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06665285  1.14845087  0.04731973] yaw=-131.6deg
-[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.6ms
-[05/10 22:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.092, 0.047)
-[05/10 22:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg
-[05/10 22:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:16:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:16:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 22:16:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 22:16:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:16:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:16:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True
-[05/10 22:16:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.500[m] 87.328[deg]
-[05/10 22:16:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:18:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:18:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:18:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 22:18:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True
-[05/10 22:18:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.477[deg]
-[05/10 22:18:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:18:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:18:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:18:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:18:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
-[05/10 22:18:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.456s, found feasible grasp: True
-[05/10 22:18:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg]
-[05/10 22:18:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:19:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 22:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/10 22:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True
-[05/10 22:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg]
-[05/10 22:19:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:19:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 22:19:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:19:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:19:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:19:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
-[05/10 22:20:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:20:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:20:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.28s (batch: 3.85s, save: 9.44s)
-[05/10 22:20:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s:
-  episode_total: mean=220.49s, total=220.49s, count=1, min=220493.8ms, max=220493.8ms
-  sensor_polling: mean=460.4ms, total=131.21s, count=285, min=401.1ms, max=769.3ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9436.1ms, max=9436.1ms
-  physics_step: mean=20.8ms, total=5.94s, count=285, min=11.5ms, max=68.3ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.5ms, max=3847.5ms
-  task_sampling: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms
-  task_specific_sample: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=403.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:20:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:20:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 22:20:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:20:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:20:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056216m
-[05/10 22:20:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:20:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:20:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72280208  0.76557096  0.05621569] yaw=-157.4deg
-[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79332377  0.63060379  0.05621569] yaw=-171.3deg
-[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90640475  1.24009373  0.05621569] yaw=-138.5deg
-[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:20:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:20:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.4ms
-[05/10 22:20:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.766, 0.056)
-[05/10 22:20:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg
-[05/10 22:20:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:20:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 22:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 22:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 22:20:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True
-[05/10 22:20:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.590[m] 87.850[deg]
-[05/10 22:20:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:22:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:22:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:22:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:22:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:23:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:23:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:23:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.87s (batch: 4.06s, save: 7.81s)
-[05/10 22:23:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=187.23s, total=187.23s, count=1, min=187232.5ms, max=187232.5ms
-  sensor_polling: mean=463.5ms, total=139.06s, count=300, min=384.0ms, max=742.2ms
-  save_trajectories: mean=7.81s, total=7.81s, count=1, min=7812.4ms, max=7812.4ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=13.4ms, max=74.8ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.3ms, max=4055.3ms
-  task_sampling: mean=429.1ms, total=429.1ms, count=1, min=429.1ms, max=429.1ms
-  task_specific_sample: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:23:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:23:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:23:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/10 22:23:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:23:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:23:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018567m
-[05/10 22:23:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:23:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:23:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83947089  0.10069514  0.0185669 ] yaw=159.7deg
-[05/10 22:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90573385  0.68221977  0.0185669 ] yaw=-174.6deg
-[05/10 22:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88724782  0.42898095  0.0185669 ] yaw=174.1deg
-[05/10 22:23:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:23:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:23:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=494.2ms, total=494.2ms
-[05/10 22:23:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.101, 0.019)
-[05/10 22:23:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
-[05/10 22:23:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.943m
-[05/10 22:23:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:23:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 22:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.143s
-[05/10 22:23:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:23:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:23:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps
-[05/10 22:23:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.129s, found feasible grasp: True
-[05/10 22:23:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 104.107[deg]
-[05/10 22:23:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:24:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:24:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:25:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:25:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:25:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:26:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 78 non-colliding grasps
-[05/10 22:26:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True
-[05/10 22:26:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.390[deg]
-[05/10 22:26:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:26:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:26:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:26:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:26:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:26:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:26:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:26:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:26:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:26:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.14s (batch: 3.94s, save: 8.20s)
-[05/10 22:26:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.77s:
-  episode_total: mean=208.29s, total=208.29s, count=1, min=208292.1ms, max=208292.1ms
-  sensor_polling: mean=457.9ms, total=137.38s, count=300, min=401.3ms, max=745.1ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.5ms, max=56.3ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.3ms, max=3944.3ms
-  task_sampling: mean=767.0ms, total=767.0ms, count=1, min=767.0ms, max=767.0ms
-  task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=553.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:26:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:26:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:26:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/10 22:26:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:26:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:26:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045880m
-[05/10 22:26:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:26:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:26:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77639093  0.01429618  0.04587987] yaw=152.1deg
-[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90930912  0.52338189  0.04587987] yaw=-168.4deg
-[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:26:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07001736  1.05386642  0.04587987] yaw=-147.8deg
-[05/10 22:26:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:26:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:26:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms
-[05/10 22:26:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.014, 0.046)
-[05/10 22:26:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg
-[05/10 22:26:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:26:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 22:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 22:26:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 22:26:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True
-[05/10 22:26:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.612[m] 99.055[deg]
-[05/10 22:26:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:29:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:29:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:29:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:29:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:29:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:29:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:29:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.97s (batch: 3.90s, save: 8.07s)
-[05/10 22:29:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s:
-  episode_total: mean=186.14s, total=186.14s, count=1, min=186138.7ms, max=186138.7ms
-  sensor_polling: mean=466.3ms, total=139.89s, count=300, min=404.9ms, max=739.4ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8073.2ms, max=8073.2ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.6ms, max=56.7ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.1ms, max=3901.1ms
-  task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms
-  task_specific_sample: mean=344.0ms, total=344.0ms, count=1, min=344.0ms, max=344.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:29:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:29:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:29:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:29:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:29:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:29:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:29:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:29:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/10 22:29:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:29:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:29:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003126m
-[05/10 22:29:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:29:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:29:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:29:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:29:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7144439   0.32578562  0.00312574] yaw=175.6deg
-[05/10 22:29:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:29:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97511703  0.67801065  0.00312574] yaw=-168.7deg
-[05/10 22:29:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:29:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:29:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.3ms, total=152.3ms
-[05/10 22:29:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.326, 0.003)
-[05/10 22:29:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg
-[05/10 22:29:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.000m
-[05/10 22:29:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:29:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:29:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:29:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:29:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:29:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 22:29:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 22:29:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:29:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:29:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:29:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True
-[05/10 22:29:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.551[m] 92.991[deg]
-[05/10 22:29:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:32:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:32:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:32:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:32:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:32:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:32:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:32:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.00s (batch: 3.68s, save: 8.32s)
-[05/10 22:32:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.22s, total=175.22s, count=1, min=175218.4ms, max=175218.4ms
-  sensor_polling: mean=441.4ms, total=132.43s, count=300, min=363.9ms, max=717.1ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8315.2ms, max=8315.2ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.8ms, max=52.4ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3680.6ms, max=3680.6ms
-  task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
-  task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:32:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:32:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:32:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:32:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 22:32:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:32:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:32:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037582m
-[05/10 22:32:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:32:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:32:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87416368  0.65693251  0.03758154] yaw=-174.7deg
-[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91866886  0.24454192  0.03758154] yaw=159.0deg
-[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10350493  0.99059939  0.03758154] yaw=-129.8deg
-[05/10 22:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:32:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:32:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms
-[05/10 22:32:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.657, 0.038)
-[05/10 22:32:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
-[05/10 22:32:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:32:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:32:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 22:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 22:32:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:32:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:32:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True
-[05/10 22:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.407[m] 87.252[deg]
-[05/10 22:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:33:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:34:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:35:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:35:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
-[05/10 22:35:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:35:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:35:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:35:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.21s (batch: 3.38s, save: 7.83s)
-[05/10 22:35:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
-  episode_total: mean=163.16s, total=163.16s, count=1, min=163163.2ms, max=163163.2ms
-  sensor_polling: mean=396.9ms, total=119.07s, count=300, min=361.5ms, max=576.0ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.7ms, max=7826.7ms
-  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.5ms, max=49.1ms
-  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3381.9ms, max=3381.9ms
-  task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms
-  task_specific_sample: mean=356.4ms, total=356.4ms, count=1, min=356.4ms, max=356.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=379.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:35:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:35:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:35:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:35:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 22:35:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:35:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:35:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063389m
-[05/10 22:35:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:35:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:35:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84072344  0.26488108  0.06338932] yaw=158.4deg
-[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:35:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86796254  0.36713108  0.06338932] yaw=182.4deg
-[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:35:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75110181  0.28180705  0.06338932] yaw=164.1deg
-[05/10 22:35:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:35:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:35:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.6ms
-[05/10 22:35:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.265, 0.063)
-[05/10 22:35:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg
-[05/10 22:35:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:35:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:35:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:35:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 22:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
-[05/10 22:35:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:35:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:35:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 22:35:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True
-[05/10 22:35:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.446[m] 93.772[deg]
-[05/10 22:35:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:36:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:37:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:37:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:37:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:37:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:37:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
-[05/10 22:37:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True
-[05/10 22:37:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.776[deg]
-[05/10 22:37:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:37:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:37:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:37:22 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 17/17 successful episodes
-[05/10 22:37:22 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 17/17 successful, 17 episodes, total_time=6494.81s
-  House averages:
-  episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms
-  sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms
-  save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms
-  physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms
-  save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms
-  task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms
-  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:37:22 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 22:37:22 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=6494.81s
-  Worker averages:
-  episode_total: mean=197.01s, total=3546.12s, count=18, min=109145.5ms, max=245377.0ms
-  sensor_polling: mean=483.8ms, total=2563.43s, count=5298, min=361.5ms, max=1169.7ms
-  save_trajectories: mean=9.36s, total=159.15s, count=17, min=7812.4ms, max=13244.3ms
-  physics_step: mean=22.7ms, total=120.51s, count=5298, min=11.5ms, max=117.9ms
-  save_batch_prep: mean=4.29s, total=72.87s, count=17, min=3381.9ms, max=5197.7ms
-  task_sampling: mean=762.4ms, total=13.72s, count=18, min=347.3ms, max=4624.7ms
-  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=344.0ms, max=1206.0ms
-  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
-  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
-  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
-  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
-  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
-  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
-  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=2.1ms, max=3.6ms
-  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
-  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
-  mj_forward_sync: mean=671.2us, total=12.1ms, count=18, min=0.4ms, max=4.2ms
-  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
-  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:37:24 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 22:37:24 INFO pipeline.py:1491] Success count: 17, Total count: 17
-[05/10 22:37:24 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009
-==========================================
diff --git a/fridge_7/chunk_009/shard_3_of_4.log b/fridge_7/chunk_009/shard_3_of_4.log
deleted file mode 100644
index 802cc9c975038e972b6d288450226373a0ad6c3c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_009/shard_3_of_4.log
+++ /dev/null
@@ -1,1712 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
-  shard=3/4  seed=20903  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:47 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 21:37:47 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 21:37:47 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 21:37:47 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70005e32c250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20903,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 21:37:47 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 21:37:47 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 123146881616080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123146881616080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 123146881616080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123146881616080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 123146886232016 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123146886232016 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123146886229712 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123146886229712 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123146886229712 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123146886229712 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123146886232016 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123146886232016 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123146885566288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123146885566288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123146885565392 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123146885565392 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 123146885565392 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123146885565392 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123146885566288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123146885566288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c0a0996bb50 at 0x70005e822f10>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c0a0996d620 at 0x70005e832090>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c0a0996d620 at 0x70005e7b9490>
-[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 21:37:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:37:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:37:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054552m
-[05/10 21:37:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:37:51 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79603452  1.07200904  0.05455197] yaw=-145.2deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=70.5ms, retries=340.5ms, total=411.0ms
-[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 1.072, 0.055)
-[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg
-[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 21:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.894s
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 21:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: True
-[05/10 21:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.668[m] 96.278[deg]
-[05/10 21:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 21:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054501m
-[05/10 21:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7650731   0.29964744  0.05450054] yaw=159.7deg
-[05/10 21:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80220069  1.02787749  0.05450054] yaw=-145.5deg
-[05/10 21:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:38:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:38:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=369.0ms, total=369.0ms
-[05/10 21:38:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.300, 0.055)
-[05/10 21:38:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
-[05/10 21:38:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:38:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:38:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 21:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
-[05/10 21:38:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:38:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:38:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 21:38:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True
-[05/10 21:38:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.506[m] 84.258[deg]
-[05/10 21:38:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:41:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 21:41:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 21:41:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:42:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 21:42:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:42:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.21s (batch: 4.32s, save: 8.89s)
-[05/10 21:42:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.97s:
-  episode_total: mean=129.10s, total=258.20s, count=2, min=38271.6ms, max=219925.7ms
-  sensor_polling: mean=518.5ms, total=155.54s, count=300, min=438.0ms, max=898.1ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8893.6ms, max=8893.6ms
-  physics_step: mean=27.2ms, total=8.17s, count=300, min=17.6ms, max=132.8ms
-  task_sampling: mean=2.49s, total=4.97s, count=2, min=665.8ms, max=4308.0ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.8ms, max=4318.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  task_specific_sample: mean=680.3ms, total=1.36s, count=2, min=662.8ms, max=697.9ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  mj_forward_sync: mean=2.4ms, total=4.8ms, count=2, min=0.5ms, max=4.3ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.6ms, max=2.0ms
-  policy_setup: mean=28.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:42:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:42:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:42:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 21:42:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:42:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:42:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025446m
-[05/10 21:42:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:42:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:42:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:42:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01048895  1.04469853  0.02544591] yaw=-132.3deg
-[05/10 21:42:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:42:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:42:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.8ms
-[05/10 21:42:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.045, 0.025)
-[05/10 21:42:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.3 deg
-[05/10 21:42:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:42:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:42:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:42:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 21:42:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 21:42:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:42:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:42:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 21:42:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True
-[05/10 21:42:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 94.194[deg]
-[05/10 21:42:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:42:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:43:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:44:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:44:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:44:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
-[05/10 21:44:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.809s, found feasible grasp: True
-[05/10 21:44:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.792[deg]
-[05/10 21:44:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:44:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:44:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:44:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/10 21:44:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:44:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:44:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008906m
-[05/10 21:44:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:44:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:44:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:44:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76329688  0.38370386  0.00890552] yaw=165.4deg
-[05/10 21:44:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:44:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86119877  0.39958689  0.00890552] yaw=167.5deg
-[05/10 21:44:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:44:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84878388  0.53032765  0.00890552] yaw=-165.4deg
-[05/10 21:44:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:44:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:44:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms
-[05/10 21:44:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.384, 0.009)
-[05/10 21:44:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
-[05/10 21:44:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
-[05/10 21:44:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:44:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 21:44:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 21:44:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:44:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:44:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 21:44:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True
-[05/10 21:44:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.478[m] 89.704[deg]
-[05/10 21:44:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:47:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:47:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:47:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 21:47:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:48:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:48:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:48:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.55s (batch: 4.49s, save: 8.05s)
-[05/10 21:48:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
-  episode_total: mean=177.72s, total=355.43s, count=2, min=163970.0ms, max=191461.8ms
-  sensor_polling: mean=477.6ms, total=285.62s, count=598, min=438.9ms, max=694.4ms
-  physics_step: mean=23.2ms, total=13.84s, count=598, min=15.6ms, max=37.2ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8051.1ms, max=8051.1ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.3ms, max=4494.3ms
-  task_sampling: mean=529.6ms, total=1.06s, count=2, min=458.8ms, max=600.4ms
-  task_specific_sample: mean=526.1ms, total=1.05s, count=2, min=455.7ms, max=596.6ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=412.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:48:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:48:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/10 21:48:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:48:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:48:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092207m
-[05/10 21:48:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:48:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:48:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77076065  0.53505719  0.09220746] yaw=-183.7deg
-[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64079981  0.3326261   0.09220746] yaw=182.6deg
-[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8451624   0.41295116  0.09220746] yaw=166.3deg
-[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:48:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:48:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.6ms
-[05/10 21:48:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.535, 0.092)
-[05/10 21:48:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg
-[05/10 21:48:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:48:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 21:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 21:48:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:48:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:48:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 21:48:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
-[05/10 21:48:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.506[m] 92.316[deg]
-[05/10 21:48:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:49:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:51:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:51:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 21:51:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:51:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:51:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.86s (batch: 4.78s, save: 10.08s)
-[05/10 21:51:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
-  episode_total: mean=211.96s, total=211.96s, count=1, min=211961.4ms, max=211961.4ms
-  sensor_polling: mean=533.3ms, total=159.98s, count=300, min=451.7ms, max=1190.4ms
-  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.2ms, max=10080.2ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=18.7ms, max=85.7ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.6ms, max=4782.6ms
-  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  task_specific_sample: mean=417.4ms, total=417.4ms, count=1, min=417.4ms, max=417.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=483.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:51:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:51:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/10 21:51:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:51:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:51:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024102m
-[05/10 21:51:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:51:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:51:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90652377  0.50358754  0.02410204] yaw=-188.7deg
-[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11372555  1.06333028  0.02410204] yaw=-132.3deg
-[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73617596  0.69003352  0.02410204] yaw=-167.5deg
-[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:51:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:51:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.1ms
-[05/10 21:51:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.504, 0.024)
-[05/10 21:51:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg
-[05/10 21:51:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:51:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 21:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 21:51:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:51:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:51:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:51:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/10 21:51:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.392[m] 98.542[deg]
-[05/10 21:51:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:52:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:52:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 21:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:54:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:54:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:54:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/10 21:54:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.404s, found feasible grasp: True
-[05/10 21:54:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.183[deg]
-[05/10 21:54:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:54:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:55:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:55:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 21:55:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:55:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:55:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:55:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.59s (batch: 4.36s, save: 11.23s)
-[05/10 21:55:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
-  episode_total: mean=214.60s, total=214.60s, count=1, min=214599.2ms, max=214599.2ms
-  sensor_polling: mean=530.0ms, total=159.00s, count=300, min=444.3ms, max=951.1ms
-  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11228.7ms, max=11228.7ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.0ms, max=94.2ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.2ms, max=4363.2ms
-  task_sampling: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms
-  task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:55:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:55:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/10 21:55:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:55:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:55:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083523m
-[05/10 21:55:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:55:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:55:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70724624  0.43532496  0.08352347] yaw=169.8deg
-[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02463451  1.15756238  0.08352347] yaw=-128.3deg
-[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00654317  0.10379094  0.08352347] yaw=146.7deg
-[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:55:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:55:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=625.1ms, total=625.2ms
-[05/10 21:55:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.435, 0.084)
-[05/10 21:55:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
-[05/10 21:55:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:55:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 21:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
-[05/10 21:55:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:55:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:55:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.197s, found 88 non-colliding grasps
-[05/10 21:55:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: True
-[05/10 21:55:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.521[m] 81.239[deg]
-[05/10 21:55:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:56:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:56:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:58:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:58:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 21:58:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:58:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:58:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:58:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.68s (batch: 5.58s, save: 9.10s)
-[05/10 21:58:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.93s:
-  episode_total: mean=208.47s, total=208.47s, count=1, min=208465.6ms, max=208465.6ms
-  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=443.5ms, max=961.0ms
-  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9096.8ms, max=9096.8ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.6ms, max=62.9ms
-  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5581.0ms, max=5581.0ms
-  task_sampling: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
-  task_specific_sample: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:58:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:58:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/10 21:58:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:58:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:58:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096634m
-[05/10 21:58:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:58:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:58:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73278953  0.19767023  0.09663425] yaw=158.7deg
-[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75277979  0.52039976  0.09663425] yaw=-174.6deg
-[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:58:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:58:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms
-[05/10 21:58:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.198, 0.097)
-[05/10 21:58:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
-[05/10 21:58:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:58:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 21:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True
-[05/10 21:58:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.545[m] 88.314[deg]
-[05/10 21:58:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:00:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:00:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:01:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:01:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:01:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:01:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps
-[05/10 22:01:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.832s, found feasible grasp: True
-[05/10 22:01:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.689[deg]
-[05/10 22:01:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:01:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:01:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:02:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:02:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:02:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:02:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:02:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.15s (batch: 4.78s, save: 9.36s)
-[05/10 22:02:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
-  episode_total: mean=235.45s, total=235.45s, count=1, min=235448.3ms, max=235448.3ms
-  sensor_polling: mean=522.4ms, total=156.71s, count=300, min=449.9ms, max=942.3ms
-  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9363.6ms, max=9363.6ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.8ms, max=109.6ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.9ms, max=4782.9ms
-  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
-  task_specific_sample: mean=518.3ms, total=518.3ms, count=1, min=518.3ms, max=518.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:02:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:02:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/10 22:02:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:02:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:02:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094174m
-[05/10 22:02:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:02:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:02:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83648448  0.0151941   0.09417409] yaw=150.5deg
-[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66754429  0.517225    0.09417409] yaw=-186.7deg
-[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98588497  0.1850165   0.09417409] yaw=157.1deg
-[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:02:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:02:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.2ms, total=170.3ms
-[05/10 22:02:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.015, 0.094)
-[05/10 22:02:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg
-[05/10 22:02:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:02:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 22:02:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:02:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:02:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/10 22:02:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.705s, found feasible grasp: True
-[05/10 22:02:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.576[m] 90.931[deg]
-[05/10 22:02:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:05:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:06:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:06:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:06:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:06:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:06:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:06:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.98s (batch: 4.43s, save: 12.55s)
-[05/10 22:06:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=218.90s, total=218.90s, count=1, min=218896.0ms, max=218896.0ms
-  sensor_polling: mean=537.5ms, total=161.25s, count=300, min=446.9ms, max=941.0ms
-  save_trajectories: mean=12.55s, total=12.55s, count=1, min=12549.3ms, max=12549.3ms
-  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.7ms, max=75.1ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
-  task_sampling: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
-  task_specific_sample: mean=490.3ms, total=490.3ms, count=1, min=490.3ms, max=490.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=618.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:06:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:06:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:06:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 22:06:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:06:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:06:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074175m
-[05/10 22:06:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:06:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:06:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89333809  0.15431183  0.07417476] yaw=159.1deg
-[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80279908  0.66985313  0.07417476] yaw=-160.2deg
-[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15247277  1.10836574  0.07417476] yaw=-136.5deg
-[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:06:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:06:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms
-[05/10 22:06:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.154, 0.074)
-[05/10 22:06:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
-[05/10 22:06:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.873m
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:06:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:06:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 22:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 22:06:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:06:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:06:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 22:06:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
-[05/10 22:06:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 98.518[deg]
-[05/10 22:06:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:07:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:08:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:08:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:08:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:08:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:08:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/10 22:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.428s, found feasible grasp: True
-[05/10 22:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.459[deg]
-[05/10 22:08:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:09:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:09:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:09:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps
-[05/10 22:09:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.584s, found feasible grasp: True
-[05/10 22:09:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]
-[05/10 22:09:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:09:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:09:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:09:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 22:09:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:09:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:09:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps
-[05/10 22:09:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True
-[05/10 22:09:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]
-[05/10 22:09:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 22:09:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:10:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:10:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:10:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 255 timesteps
-[05/10 22:10:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:10:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:10:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.64s (batch: 3.93s, save: 10.71s)
-[05/10 22:10:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
-  episode_total: mean=229.60s, total=229.60s, count=1, min=229603.3ms, max=229603.3ms
-  sensor_polling: mean=516.9ms, total=131.30s, count=254, min=448.0ms, max=1143.8ms
-  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.6ms, max=10708.6ms
-  physics_step: mean=25.3ms, total=6.41s, count=254, min=12.8ms, max=129.8ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms
-  task_sampling: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
-  task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=419.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:10:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:10:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:10:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 22:10:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:10:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:10:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010557m
-[05/10 22:10:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:10:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:10:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96454673  0.80953441  0.01055669] yaw=-154.5deg
-[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79692637  0.62038593  0.01055669] yaw=-160.2deg
-[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10745522  1.06553463  0.01055669] yaw=-142.1deg
-[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:10:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:10:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.7ms
-[05/10 22:10:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.810, 0.011)
-[05/10 22:10:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg
-[05/10 22:10:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.807m
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:10:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:10:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 22:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 22:10:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:10:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:10:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps
-[05/10 22:10:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True
-[05/10 22:10:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 74.141[deg]
-[05/10 22:10:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:13:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:13:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:13:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:13:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/10 22:13:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:13:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:13:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.13s (batch: 4.80s, save: 9.32s)
-[05/10 22:13:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
-  episode_total: mean=199.85s, total=199.85s, count=1, min=199849.9ms, max=199849.9ms
-  sensor_polling: mean=523.6ms, total=150.79s, count=288, min=440.7ms, max=1207.3ms
-  save_trajectories: mean=9.32s, total=9.32s, count=1, min=9324.9ms, max=9324.9ms
-  physics_step: mean=26.2ms, total=7.54s, count=288, min=16.8ms, max=95.6ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4801.3ms, max=4801.3ms
-  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=414.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:13:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:13:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:13:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:13:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:13:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:13:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:13:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 22:13:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:13:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:13:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073849m
-[05/10 22:13:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:13:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:13:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83199234  0.59684425  0.07384925] yaw=-180.8deg
-[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8241266   0.88641948  0.07384925] yaw=-153.9deg
-[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:13:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89175715  0.77975166  0.07384925] yaw=-150.3deg
-[05/10 22:13:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:13:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:13:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.8ms, total=157.8ms
-[05/10 22:13:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.597, 0.074)
-[05/10 22:13:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg
-[05/10 22:13:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
-[05/10 22:13:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:13:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:13:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:13:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:13:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:13:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 22:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 22:13:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:13:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:13:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 22:13:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True
-[05/10 22:13:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.425[m] 84.141[deg]
-[05/10 22:13:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:14:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:14:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:16:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:17:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:17:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:17:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:17:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:17:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:17:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.88s, save: 7.43s)
-[05/10 22:17:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
-  episode_total: mean=224.48s, total=224.48s, count=1, min=224483.4ms, max=224483.4ms
-  sensor_polling: mean=469.5ms, total=140.84s, count=300, min=392.9ms, max=791.4ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.1ms, max=7429.1ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.7ms, max=94.9ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms
-  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
-  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=416.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:17:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:17:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:17:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:17:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:17:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:17:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:17:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 22:17:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:17:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:17:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021258m
-[05/10 22:17:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:17:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:17:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71189626  0.4457718   0.02125798] yaw=188.5deg
-[05/10 22:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71601287  0.62103296  0.02125798] yaw=-179.2deg
-[05/10 22:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:17:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:17:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms
-[05/10 22:17:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.446, 0.021)
-[05/10 22:17:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg
-[05/10 22:17:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
-[05/10 22:17:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:17:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:17:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:17:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:17:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:17:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 22:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/10 22:17:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:17:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:17:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 22:17:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True
-[05/10 22:17:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 90.877[deg]
-[05/10 22:17:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:19:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:20:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:20:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:20:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:20:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:20:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:20:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.28s (batch: 3.83s, save: 7.45s)
-[05/10 22:20:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.47s:
-  episode_total: mean=185.37s, total=185.37s, count=1, min=185371.4ms, max=185371.4ms
-  sensor_polling: mean=467.7ms, total=140.32s, count=300, min=400.1ms, max=982.5ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7450.0ms, max=7450.0ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=14.1ms, max=121.4ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3831.8ms, max=3831.8ms
-  task_sampling: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms
-  task_specific_sample: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=384.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:20:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:20:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 22:20:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:20:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:20:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043789m
-[05/10 22:20:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:20:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:20:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03083617  0.9452331   0.0437895 ] yaw=-145.3deg
-[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78082377  0.33066894  0.0437895 ] yaw=166.8deg
-[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9390865   0.46934615  0.0437895 ] yaw=188.6deg
-[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:20:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:20:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.9ms
-[05/10 22:20:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.945, 0.044)
-[05/10 22:20:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg
-[05/10 22:20:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.816m
-[05/10 22:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:20:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:20:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 22:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 22:20:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:20:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:20:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:20:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True
-[05/10 22:20:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.362[m] 87.414[deg]
-[05/10 22:20:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:23:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:23:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:23:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:23:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 22:23:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:23:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:23:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.89s (batch: 3.84s, save: 8.05s)
-[05/10 22:23:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s:
-  episode_total: mean=187.78s, total=187.78s, count=1, min=187779.3ms, max=187779.3ms
-  sensor_polling: mean=484.2ms, total=141.87s, count=293, min=402.9ms, max=915.5ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.6ms, max=8050.6ms
-  physics_step: mean=22.8ms, total=6.69s, count=293, min=14.1ms, max=57.2ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.2ms, max=3843.2ms
-  task_sampling: mean=407.9ms, total=407.9ms, count=1, min=407.9ms, max=407.9ms
-  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=387.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:23:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:23:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:23:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 22:23:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:23:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:23:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m
-[05/10 22:23:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:23:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:23:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74422943  0.77382923  0.03141982] yaw=-171.7deg
-[05/10 22:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:23:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:23:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.3ms
-[05/10 22:23:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.774, 0.031)
-[05/10 22:23:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg
-[05/10 22:23:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:23:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 22:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 22:23:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:23:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:23:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 22:23:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True
-[05/10 22:23:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.583[m] 91.074[deg]
-[05/10 22:23:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:23:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:23:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:23:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 22:23:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:23:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:23:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026704m
-[05/10 22:23:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:23:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:23:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67523858  0.29137131  0.02670364] yaw=173.1deg
-[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81969392  0.13940133  0.02670364] yaw=159.1deg
-[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8674853   0.22308104  0.02670364] yaw=165.4deg
-[05/10 22:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:23:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:23:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.3ms
-[05/10 22:23:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.291, 0.027)
-[05/10 22:23:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg
-[05/10 22:23:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:23:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:23:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 22:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 22:23:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:23:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:23:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:23:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True
-[05/10 22:23:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.586[m] 86.063[deg]
-[05/10 22:23:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:24:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:26:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:26:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:26:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:26:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.79s, save: 7.53s)
-[05/10 22:26:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.90s:
-  episode_total: mean=94.41s, total=188.83s, count=2, min=2851.2ms, max=185976.3ms
-  sensor_polling: mean=466.4ms, total=139.92s, count=300, min=397.2ms, max=907.5ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7527.5ms, max=7527.5ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=14.4ms, max=42.5ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.7ms, max=3785.7ms
-  task_sampling: mean=452.2ms, total=904.5ms, count=2, min=361.4ms, max=543.1ms
-  task_specific_sample: mean=449.1ms, total=898.2ms, count=2, min=358.7ms, max=539.5ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=380.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:26:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:26:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:26:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/10 22:26:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:26:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:26:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058448m
-[05/10 22:26:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:26:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:26:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77705323  0.91576464  0.05844776] yaw=-161.1deg
-[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94790866  0.79077819  0.05844776] yaw=-150.3deg
-[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15615181  1.08574421  0.05844776] yaw=-139.6deg
-[05/10 22:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:26:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:26:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms
-[05/10 22:26:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.916, 0.058)
-[05/10 22:26:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg
-[05/10 22:26:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:26:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 22:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 22:26:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.595s, found feasible grasp: True
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.567[m] 87.093[deg]
-[05/10 22:26:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:26:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:26:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:26:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:26:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/10 22:26:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:26:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:26:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008146m
-[05/10 22:26:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:26:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:26:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66398494  0.32599308  0.00814617] yaw=166.6deg
-[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92616365  1.17514129  0.00814617] yaw=-139.3deg
-[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:26:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83688984  0.95449991  0.00814617] yaw=-149.4deg
-[05/10 22:26:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:26:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:26:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.8ms
-[05/10 22:26:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.326, 0.008)
-[05/10 22:26:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg
-[05/10 22:26:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
-[05/10 22:26:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:26:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 22:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 22:26:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:26:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True
-[05/10 22:26:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.608[m] 88.910[deg]
-[05/10 22:26:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:29:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:29:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:29:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
-[05/10 22:29:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:30:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:30:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:30:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 10.96s (batch: 3.59s, save: 7.37s)
-[05/10 22:30:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.75s:
-  episode_total: mean=93.72s, total=187.44s, count=2, min=3154.1ms, max=184283.0ms
-  sensor_polling: mean=464.5ms, total=139.36s, count=300, min=390.2ms, max=939.9ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.9ms, max=7368.9ms
-  physics_step: mean=23.3ms, total=6.99s, count=300, min=16.9ms, max=129.9ms
-  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.6ms, max=3592.6ms
-  task_sampling: mean=375.1ms, total=750.2ms, count=2, min=325.7ms, max=424.5ms
-  task_specific_sample: mean=372.2ms, total=744.3ms, count=2, min=323.0ms, max=421.3ms
-  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
-  mj_forward_sync: mean=383.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:30:03 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:30:03 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:30:03 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
-[05/10 22:30:03 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5651.59s
-  House averages:
-  episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms
-  sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms
-  save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms
-  physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms
-  save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms
-  task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms
-  task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:30:03 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 22:30:03 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5651.59s
-  Worker averages:
-  episode_total: mean=172.58s, total=3106.35s, count=18, min=2851.2ms, max=235448.3ms
-  sensor_polling: mean=500.0ms, total=2216.40s, count=4433, min=390.2ms, max=1207.3ms
-  save_trajectories: mean=9.08s, total=127.12s, count=14, min=7368.9ms, max=12549.3ms
-  physics_step: mean=25.1ms, total=111.10s, count=4433, min=12.8ms, max=132.8ms
-  save_batch_prep: mean=4.32s, total=60.41s, count=14, min=3592.6ms, max=5581.0ms
-  task_sampling: mean=709.1ms, total=12.76s, count=18, min=325.7ms, max=4308.0ms
-  task_specific_sample: mean=505.2ms, total=9.09s, count=18, min=323.0ms, max=924.8ms
-  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
-  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
-  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
-  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
-  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
-  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
-  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
-  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
-  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
-  scene_randomize: mean=2.1ms, total=38.7ms, count=18, min=1.1ms, max=2.8ms
-  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
-  mj_forward_sync: mean=649.4us, total=11.7ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:30:06 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 22:30:06 INFO pipeline.py:1491] Success count: 14, Total count: 14
-[05/10 22:30:06 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009
-==========================================
diff --git a/fridge_7/chunk_009/shard_4_of_4.log b/fridge_7/chunk_009/shard_4_of_4.log
deleted file mode 100644
index 1b67a169971a5ca938b294f1f1420910f1acc976..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_009/shard_4_of_4.log
+++ /dev/null
@@ -1,1799 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
-  shard=4/4  seed=20904  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:46 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 21:37:46 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 21:37:46 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 21:37:46 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70530fda5250>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 20904,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 21:37:46 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 21:37:46 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 123502046809488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123502046809488 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 123502046809488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 123502046809488 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 123502052407952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123502052407952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123502052408528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123502052408528 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123502052408528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123502052408528 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123502052407952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123502052407952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123502046873168 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123502046873168 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 123502046878544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123502046878544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 123502046878544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 123502046878544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 123502046873168 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 123502046873168 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5fc3279dfb00 at 0x70530feca250>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5fc327a0d6a0 at 0x705310139e50>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5fc327a0d6a0 at 0x7053102c1490>
-[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078143m
-[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 21:37:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69840958  0.69742673  0.07814342] yaw=-166.3deg
-[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87865762  0.32680021  0.07814342] yaw=159.1deg
-[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77659807  0.24852128  0.07814342] yaw=168.0deg
-[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:37:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:37:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.9ms, retries=217.3ms, total=230.1ms
-[05/10 21:37:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.697, 0.078)
-[05/10 21:37:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg
-[05/10 21:37:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 21:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.973s
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 21:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True
-[05/10 21:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 81.815[deg]
-[05/10 21:38:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:41:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 21:41:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 21:41:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:41:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 21:41:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:41:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.26s (batch: 4.64s, save: 8.62s)
-[05/10 21:41:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.87s:
-  episode_total: mean=239.90s, total=239.90s, count=1, min=239904.3ms, max=239904.3ms
-  sensor_polling: mean=524.9ms, total=157.46s, count=300, min=446.6ms, max=861.5ms
-  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8616.6ms, max=8616.6ms
-  physics_step: mean=27.1ms, total=8.14s, count=300, min=15.5ms, max=101.6ms
-  task_sampling: mean=4.87s, total=4.87s, count=1, min=4874.2ms, max=4874.2ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.3ms, max=4642.3ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  task_specific_sample: mean=781.5ms, total=781.5ms, count=1, min=781.5ms, max=781.5ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=391.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/10 21:41:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:41:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
-[05/10 21:41:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:41:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:41:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015438m
-[05/10 21:41:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:41:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:41:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75043123  0.69790588  0.01543775] yaw=-171.6deg
-[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78708884  0.84564956  0.01543775] yaw=-147.3deg
-[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79430639  0.98150733  0.01543775] yaw=-149.7deg
-[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:41:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:41:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms
-[05/10 21:41:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.698, 0.015)
-[05/10 21:41:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg
-[05/10 21:41:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:41:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:41:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 21:41:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 21:41:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:41:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:41:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 21:41:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True
-[05/10 21:41:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.540[m] 90.670[deg]
-[05/10 21:41:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:44:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:44:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:44:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 21:44:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:44:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:44:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:44:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.89s (batch: 4.03s, save: 8.86s)
-[05/10 21:44:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=188.47s, total=188.47s, count=1, min=188470.5ms, max=188470.5ms
-  sensor_polling: mean=478.0ms, total=143.41s, count=300, min=439.1ms, max=677.6ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8861.5ms, max=8861.5ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.6ms, max=31.6ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4026.4ms, max=4026.4ms
-  task_sampling: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms
-  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=437.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:44:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:44:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 21:44:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:44:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:44:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093064m
-[05/10 21:44:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:44:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:44:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91776501  0.79851926  0.09306394] yaw=-154.2deg
-[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95180662  0.076947    0.09306394] yaw=160.7deg
-[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96905711  0.74109691  0.09306394] yaw=-152.1deg
-[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:44:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:44:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms
-[05/10 21:44:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.799, 0.093)
-[05/10 21:44:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
-[05/10 21:44:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:44:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:44:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:44:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/10 21:44:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:44:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:44:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 21:44:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
-[05/10 21:44:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.401[m] 78.115[deg]
-[05/10 21:44:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:45:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:47:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:47:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:47:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 21:47:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:48:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:48:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:48:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.80s (batch: 4.20s, save: 8.60s)
-[05/10 21:48:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=189.68s, total=189.68s, count=1, min=189677.6ms, max=189677.6ms
-  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=448.9ms, max=648.9ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8602.3ms, max=8602.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=32.0ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.1ms, max=4201.1ms
-  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  task_specific_sample: mean=438.9ms, total=438.9ms, count=1, min=438.9ms, max=438.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=417.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:48:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:48:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/10 21:48:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:48:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:48:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034244m
-[05/10 21:48:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:48:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:48:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88634209  1.19415786  0.0342438 ] yaw=-130.6deg
-[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86882266  0.49060402  0.0342438 ] yaw=-183.1deg
-[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71313064  0.78462643  0.0342438 ] yaw=-171.0deg
-[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:48:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:48:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms
-[05/10 21:48:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.194, 0.034)
-[05/10 21:48:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg
-[05/10 21:48:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:48:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 21:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 21:48:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:48:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:48:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 21:48:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.625s, found feasible grasp: True
-[05/10 21:48:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 162 (originally 47): w/ 0.694[m] 150.155[deg]
-[05/10 21:48:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:48:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:48:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/10 21:48:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:48:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:48:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087990m
-[05/10 21:48:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:48:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:48:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69499776  0.17550579  0.0879901 ] yaw=169.8deg
-[05/10 21:48:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:48:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90088262  0.96672289  0.0879901 ] yaw=-150.9deg
-[05/10 21:48:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:48:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:48:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.2ms, total=408.3ms
-[05/10 21:48:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.176, 0.088)
-[05/10 21:48:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
-[05/10 21:48:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:48:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:48:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:48:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 21:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
-[05/10 21:48:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:48:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:48:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps
-[05/10 21:48:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.714s, found feasible grasp: True
-[05/10 21:48:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.642[m] 99.184[deg]
-[05/10 21:48:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:51:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:51:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 21:51:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:51:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:51:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:51:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.16s (batch: 4.52s, save: 10.64s)
-[05/10 21:51:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.55s:
-  episode_total: mean=112.71s, total=225.42s, count=2, min=5704.2ms, max=219714.9ms
-  sensor_polling: mean=532.5ms, total=159.75s, count=300, min=447.9ms, max=946.3ms
-  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10641.7ms, max=10641.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.2ms, max=67.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
-  task_sampling: mean=776.7ms, total=1.55s, count=2, min=462.1ms, max=1091.2ms
-  task_specific_sample: mean=772.4ms, total=1.54s, count=2, min=458.2ms, max=1086.7ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.4ms, max=2.6ms
-  mj_forward_sync: mean=511.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 21:51:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:51:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 21:51:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:51:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:51:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035366m
-[05/10 21:51:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:51:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:51:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93188653  0.83490741  0.0353662 ] yaw=-163.1deg
-[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93459396  0.36402371  0.0353662 ] yaw=180.7deg
-[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84979214  0.93176366  0.0353662 ] yaw=-159.3deg
-[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:51:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:51:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.2ms, total=396.2ms
-[05/10 21:51:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.835, 0.035)
-[05/10 21:51:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.1 deg
-[05/10 21:51:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:51:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:51:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:51:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 21:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.157s
-[05/10 21:52:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:52:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:52:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps
-[05/10 21:52:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True
-[05/10 21:52:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 91.727[deg]
-[05/10 21:52:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:52:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:52:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:52:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 21:55:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:55:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 21:55:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 21:55:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 21:55:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 21:55:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 17.09s (batch: 5.57s, save: 11.52s)
-[05/10 21:55:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.73s:
-  episode_total: mean=208.25s, total=208.25s, count=1, min=208246.2ms, max=208246.2ms
-  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=437.0ms, max=797.7ms
-  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.5ms, max=11522.5ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.0ms, max=92.3ms
-  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5570.9ms, max=5570.9ms
-  task_sampling: mean=733.1ms, total=733.1ms, count=1, min=733.1ms, max=733.1ms
-  task_specific_sample: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 21:55:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:55:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 21:55:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:55:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:55:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074261m
-[05/10 21:55:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:55:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:55:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99003319  0.15016147  0.07426136] yaw=163.1deg
-[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86637152  0.33454528  0.07426136] yaw=179.9deg
-[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74804582  0.59796571  0.07426136] yaw=-175.6deg
-[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:55:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:55:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.2ms
-[05/10 21:55:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.150, 0.074)
-[05/10 21:55:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg
-[05/10 21:55:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:55:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:55:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 21:55:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/10 21:55:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:55:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:55:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/10 21:55:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True
-[05/10 21:55:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.350[m] 83.647[deg]
-[05/10 21:55:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:56:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:56:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:57:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:57:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 21:57:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:57:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:57:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
-[05/10 21:57:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True
-[05/10 21:57:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.350[deg]
-[05/10 21:57:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:57:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:57:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:57:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:57:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:57:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:57:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:57:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 21:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 21:58:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 21:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 21:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 21:58:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 21:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 21:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 21:58:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:58:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:58:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/10 21:58:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.600s, found feasible grasp: True
-[05/10 21:58:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.850[deg]
-[05/10 21:58:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 21:58:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 21:58:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 21:58:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 21:58:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 21:58:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039761m
-[05/10 21:58:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 21:58:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 21:58:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6706696   0.27095008  0.03976099] yaw=157.3deg
-[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 21:58:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76062706  0.34917922  0.03976099] yaw=167.1deg
-[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60850849  0.40887708  0.03976099] yaw=175.7deg
-[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 21:58:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 21:58:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.0ms, total=114.0ms
-[05/10 21:58:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.271, 0.040)
-[05/10 21:58:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg
-[05/10 21:58:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 21:58:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 21:58:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 21:58:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 21:58:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/10 21:58:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 21:58:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 21:58:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 21:58:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True
-[05/10 21:58:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.589[m] 86.067[deg]
-[05/10 21:58:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 21:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 21:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 21:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 21:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 21:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:01:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:01:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:01:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:01:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:02:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:02:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:02:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.68s (batch: 5.39s, save: 10.29s)
-[05/10 22:02:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.88s:
-  episode_total: mean=197.53s, total=395.06s, count=2, min=171566.7ms, max=223491.7ms
-  sensor_polling: mean=528.0ms, total=279.85s, count=530, min=432.0ms, max=994.2ms
-  physics_step: mean=26.1ms, total=13.84s, count=530, min=14.6ms, max=89.6ms
-  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10290.5ms, max=10290.5ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5394.0ms, max=5394.0ms
-  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=397.5ms, max=487.3ms
-  task_specific_sample: mean=438.9ms, total=877.8ms, count=2, min=394.1ms, max=483.7ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=409.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:02:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:02:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 22:02:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:02:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:02:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016281m
-[05/10 22:02:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:02:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:02:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:02:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88048043  0.44562741  0.0162809 ] yaw=171.9deg
-[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:02:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95309746  0.3913453   0.0162809 ] yaw=167.6deg
-[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11030604  1.19160689  0.0162809 ] yaw=-133.0deg
-[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:02:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:02:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms
-[05/10 22:02:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.446, 0.016)
-[05/10 22:02:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg
-[05/10 22:02:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:02:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 22:02:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:02:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:02:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 22:02:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
-[05/10 22:02:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.414[m] 98.442[deg]
-[05/10 22:02:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:04:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:05:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:05:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:05:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:05:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:05:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:05:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.45s (batch: 4.64s, save: 11.82s)
-[05/10 22:05:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
-  episode_total: mean=215.30s, total=215.30s, count=1, min=215297.8ms, max=215297.8ms
-  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=454.2ms, max=937.9ms
-  save_trajectories: mean=11.82s, total=11.82s, count=1, min=11818.2ms, max=11818.2ms
-  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.6ms, max=72.5ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.5ms, max=4635.5ms
-  task_sampling: mean=396.1ms, total=396.1ms, count=1, min=396.1ms, max=396.1ms
-  task_specific_sample: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:05:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:05:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:05:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:05:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:05:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:05:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:05:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 22:05:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:05:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:05:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041763m
-[05/10 22:05:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:05:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:05:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:05:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08497557  1.0877005   0.04176253] yaw=-134.0deg
-[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94964042  0.88900527  0.04176253] yaw=-149.0deg
-[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:05:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10458435  1.10373391  0.04176253] yaw=-140.6deg
-[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:05:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:05:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms
-[05/10 22:05:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.088, 0.042)
-[05/10 22:05:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg
-[05/10 22:05:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
-[05/10 22:05:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:05:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:05:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:05:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:05:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 22:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
-[05/10 22:05:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:05:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:05:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 22:05:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True
-[05/10 22:05:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 84.693[deg]
-[05/10 22:05:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:06:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:08:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:08:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:08:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps
-[05/10 22:08:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.423s, found feasible grasp: True
-[05/10 22:08:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.241[deg]
-[05/10 22:08:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:08:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:08:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:08:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:08:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:08:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:08:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 22:08:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:08:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:08:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047933m
-[05/10 22:08:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:08:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:08:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07651475  0.96683729  0.04793261] yaw=-143.9deg
-[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95235692  0.27148443  0.04793261] yaw=167.1deg
-[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72649085  0.86898473  0.04793261] yaw=-162.9deg
-[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:08:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:08:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.6ms, total=305.6ms
-[05/10 22:08:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.967, 0.048)
-[05/10 22:08:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg
-[05/10 22:08:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
-[05/10 22:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:08:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:08:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 22:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 22:08:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:08:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:08:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 22:08:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
-[05/10 22:08:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 89.338[deg]
-[05/10 22:08:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:09:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:11:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:11:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:11:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:11:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:11:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:11:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:11:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 22:11:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.722s, found feasible grasp: True
-[05/10 22:11:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]
-[05/10 22:11:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 417, in get_action
-    action = self.action_primitives[-1].get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:11:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:11:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:11:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 22:11:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:11:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:11:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009676m
-[05/10 22:11:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:11:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:11:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:11:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8434122   0.42000288  0.00967631] yaw=186.8deg
-[05/10 22:11:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:11:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:11:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.7ms, total=400.7ms
-[05/10 22:11:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.420, 0.010)
-[05/10 22:11:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg
-[05/10 22:11:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.861m
-[05/10 22:11:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:11:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:11:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:11:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:11:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:11:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 22:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/10 22:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:11:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 22:11:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
-[05/10 22:11:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.454[m] 95.338[deg]
-[05/10 22:11:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:12:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:12:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:14:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:14:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:14:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:14:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:14:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:14:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:14:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.14s, save: 7.70s)
-[05/10 22:14:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.78s:
-  episode_total: mean=181.71s, total=545.12s, count=3, min=164126.1ms, max=204051.5ms
-  sensor_polling: mean=509.3ms, total=437.48s, count=859, min=432.7ms, max=1253.3ms
-  physics_step: mean=24.7ms, total=21.24s, count=859, min=14.8ms, max=100.1ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7701.3ms, max=7701.3ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4143.9ms, max=4143.9ms
-  task_sampling: mean=593.3ms, total=1.78s, count=3, min=515.0ms, max=702.8ms
-  task_specific_sample: mean=589.5ms, total=1.77s, count=3, min=510.5ms, max=699.0ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=3.0ms
-  mj_forward_sync: mean=489.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 22:14:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:14:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:14:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 22:14:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:14:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:14:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054448m
-[05/10 22:14:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:14:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:14:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64513941  0.4665513   0.05444763] yaw=174.9deg
-[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98331101  0.22687434  0.05444763] yaw=149.8deg
-[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0179279   1.07679657  0.05444763] yaw=-136.8deg
-[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:14:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:14:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.2ms, total=320.3ms
-[05/10 22:14:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.467, 0.054)
-[05/10 22:14:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg
-[05/10 22:14:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:14:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:14:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 22:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 22:14:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:14:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:14:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 22:14:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.450s, found feasible grasp: True
-[05/10 22:14:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.630[m] 95.774[deg]
-[05/10 22:14:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:16:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:16:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:17:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:17:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:17:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:17:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps
-[05/10 22:17:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.412s, found feasible grasp: True
-[05/10 22:17:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]
-[05/10 22:17:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:17:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:17:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:17:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:17:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:18:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:18:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:18:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.25s (batch: 4.13s, save: 9.12s)
-[05/10 22:18:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.62s:
-  episode_total: mean=197.80s, total=197.80s, count=1, min=197799.6ms, max=197799.6ms
-  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=389.3ms, max=703.7ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.3ms, max=9118.3ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=63.4ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.0ms, max=4129.0ms
-  task_sampling: mean=621.0ms, total=621.0ms, count=1, min=621.0ms, max=621.0ms
-  task_specific_sample: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms
-  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:18:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:18:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:18:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:18:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:18:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:18:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:18:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/10 22:18:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:18:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:18:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033136m
-[05/10 22:18:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:18:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:18:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87750766  0.70276041  0.03313566] yaw=-174.8deg
-[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90004456  0.89556275  0.03313566] yaw=-147.0deg
-[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61983833  0.63203531  0.03313566] yaw=-171.3deg
-[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:18:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:18:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=601.0ms, total=601.1ms
-[05/10 22:18:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.703, 0.033)
-[05/10 22:18:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg
-[05/10 22:18:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.854m
-[05/10 22:18:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:18:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:18:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:18:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:18:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:18:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 22:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/10 22:18:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:18:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:18:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 22:18:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True
-[05/10 22:18:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 90.621[deg]
-[05/10 22:18:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:20:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:21:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:21:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:21:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:21:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:21:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:21:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.49s (batch: 4.12s, save: 8.37s)
-[05/10 22:21:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.86s:
-  episode_total: mean=185.33s, total=185.33s, count=1, min=185328.8ms, max=185328.8ms
-  sensor_polling: mean=463.1ms, total=138.94s, count=300, min=401.7ms, max=848.0ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8365.0ms, max=8365.0ms
-  physics_step: mean=20.4ms, total=6.13s, count=300, min=16.6ms, max=42.5ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.9ms, max=4121.9ms
-  task_sampling: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms
-  task_specific_sample: mean=859.9ms, total=859.9ms, count=1, min=859.9ms, max=859.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=544.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:21:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:21:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:21:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 22:21:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:21:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:21:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005815m
-[05/10 22:21:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:21:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:21:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76838776  0.94624467  0.00581516] yaw=-156.5deg
-[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80469593  0.76596592  0.00581516] yaw=-167.7deg
-[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:21:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11616872  1.01864043  0.00581516] yaw=-128.4deg
-[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:21:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:21:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.3ms
-[05/10 22:21:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.946, 0.006)
-[05/10 22:21:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg
-[05/10 22:21:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:21:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:21:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:21:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 22:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/10 22:21:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:21:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:21:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:21:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: True
-[05/10 22:21:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.623[m] 96.490[deg]
-[05/10 22:21:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:22:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:23:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:24:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:24:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:24:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:24:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:24:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:24:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.64s (batch: 4.06s, save: 7.58s)
-[05/10 22:24:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
-  episode_total: mean=188.26s, total=188.26s, count=1, min=188257.0ms, max=188257.0ms
-  sensor_polling: mean=475.4ms, total=142.62s, count=300, min=386.5ms, max=871.7ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7576.6ms, max=7576.6ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=16.6ms, max=48.1ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4064.8ms, max=4064.8ms
-  task_sampling: mean=376.4ms, total=376.4ms, count=1, min=376.4ms, max=376.4ms
-  task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=435.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:24:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:24:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:24:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:24:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/10 22:24:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:24:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:24:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024004m
-[05/10 22:24:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:24:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:24:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05857845  1.18804482  0.02400358] yaw=-123.0deg
-[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:24:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86360394  0.9534524   0.02400358] yaw=-159.3deg
-[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:24:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93201839  0.96945378  0.02400358] yaw=-149.5deg
-[05/10 22:24:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:24:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:24:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.0ms
-[05/10 22:24:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.188, 0.024)
-[05/10 22:24:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.0 deg
-[05/10 22:24:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:24:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:24:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:24:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 22:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 22:24:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:24:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:24:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 22:24:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.207s, found feasible grasp: True
-[05/10 22:24:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.552[m] 92.432[deg]
-[05/10 22:24:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:24:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:24:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:25:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:25:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:26:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:26:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:26:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:26:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:26:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:26:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 22:26:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.473s, found feasible grasp: True
-[05/10 22:26:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.113[deg]
-[05/10 22:26:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:26:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:26:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:26:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:26:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 22:26:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:26:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:26:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069315m
-[05/10 22:26:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:26:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:26:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80308385  0.46582673  0.06931477] yaw=179.2deg
-[05/10 22:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91958734  0.11170152  0.06931477] yaw=144.2deg
-[05/10 22:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:26:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:26:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=177.9ms
-[05/10 22:26:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.466, 0.069)
-[05/10 22:26:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg
-[05/10 22:26:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.899m
-[05/10 22:26:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:26:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:26:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:26:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:26:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:26:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 22:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True
-[05/10 22:26:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.462[m] 90.657[deg]
-[05/10 22:26:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:27:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:29:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:29:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:29:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
-[05/10 22:29:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:29:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:29:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
-[05/10 22:29:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.65s (batch: 4.06s, save: 7.59s)
-[05/10 22:29:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.86s:
-  episode_total: mean=162.52s, total=325.04s, count=2, min=141600.5ms, max=183441.8ms
-  sensor_polling: mean=459.2ms, total=255.77s, count=557, min=384.1ms, max=855.4ms
-  physics_step: mean=22.0ms, total=12.27s, count=557, min=14.0ms, max=82.7ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.3ms, max=7586.3ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.4ms, max=4059.4ms
-  task_sampling: mean=427.8ms, total=855.6ms, count=2, min=406.3ms, max=449.2ms
-  task_specific_sample: mean=424.3ms, total=848.6ms, count=2, min=403.5ms, max=445.1ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=403.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:29:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:29:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:29:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:29:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 22:29:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:29:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:29:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072703m
-[05/10 22:29:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:29:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:29:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91947962  0.37651981  0.07270264] yaw=178.6deg
-[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86224067  0.22135202  0.07270264] yaw=173.7deg
-[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08929711  0.98712135  0.07270264] yaw=-138.6deg
-[05/10 22:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:29:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:29:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.1ms
-[05/10 22:29:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.377, 0.073)
-[05/10 22:29:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg
-[05/10 22:29:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:30:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:30:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 22:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 22:30:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:30:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:30:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:30:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True
-[05/10 22:30:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.348[m] 82.097[deg]
-[05/10 22:30:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:30:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:30:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:30:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:31:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:31:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:31:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:31:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:31:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 22:31:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.978s, found feasible grasp: True
-[05/10 22:31:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.578[deg]
-[05/10 22:31:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:31:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:31:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:31:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps
-[05/10 22:31:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True
-[05/10 22:31:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg]
-[05/10 22:31:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:31:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:31:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 22:31:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:31:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:31:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps
-[05/10 22:31:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.435s, found feasible grasp: True
-[05/10 22:31:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.590[deg]
-[05/10 22:31:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:32:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 22:32:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False
-[05/10 22:32:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.36s:
-  episode_total: mean=136.73s, total=136.73s, count=1, min=136727.7ms, max=136727.7ms
-  sensor_polling: mean=446.7ms, total=88.89s, count=199, min=397.7ms, max=689.5ms
-  physics_step: mean=19.4ms, total=3.86s, count=199, min=12.0ms, max=45.1ms
-  task_sampling: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms
-  task_specific_sample: mean=359.7ms, total=359.7ms, count=1, min=359.7ms, max=359.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:32:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:32:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_009
-[05/10 22:32:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/10 22:32:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5951.41s
-  House averages:
-  episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms
-  sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms
-  physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms
-  save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms
-  save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms
-  task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms
-  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:32:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 22:32:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5951.41s
-  Worker averages:
-  episode_total: mean=180.02s, total=3240.35s, count=18, min=5704.2ms, max=239904.3ms
-  sensor_polling: mean=495.1ms, total=2398.62s, count=4845, min=384.1ms, max=1253.3ms
-  physics_step: mean=23.6ms, total=114.26s, count=4845, min=12.0ms, max=101.6ms
-  save_trajectories: mean=9.23s, total=110.70s, count=12, min=7576.6ms, max=11818.2ms
-  save_batch_prep: mean=4.46s, total=53.51s, count=12, min=4026.4ms, max=5570.9ms
-  task_sampling: mean=787.1ms, total=14.17s, count=18, min=363.2ms, max=4874.2ms
-  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=359.7ms, max=1086.7ms
-  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
-  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
-  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
-  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
-  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
-  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.4ms, total=42.7ms, count=18, min=1.2ms, max=3.9ms
-  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
-  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
-  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  mj_forward_sync: mean=463.7us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 22:32:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 22:32:20 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/10 22:32:20 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_009
-==========================================
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-05/10 22:37:51 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 22:37:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 22:37:51 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 22:37:51 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x769b562ebe90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
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-                                        1.57079,
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-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
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- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21002,
- 'shared_output_dir': True,
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-                 'added_objects': {},
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-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
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-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 22:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 22:37:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 22:37:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 22:37:52 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
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-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7666ed3aedd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21001,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 22:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 22:37:52 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 22:37:52 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 22:37:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 22:37:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 22:37:52 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7422ba20d210>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21004,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 22:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 22:37:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 22:37:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 22:37:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 22:37:52 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7aa81b656950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21003,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 22:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 22:37:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 22:37:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 22:37:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 22:37:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 22:37:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049169m	[env.py: 870]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 22:37:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91973279  0.90823225  0.04916875] yaw=-149.0deg	[env.py: 1019]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077916m	[env.py: 870]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04110699  0.98994084  0.04916875] yaw=-142.0deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95317579  0.71839542  0.04916875] yaw=-170.8deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91576263  0.98844995  0.07791641] yaw=-153.1deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.9ms, retries=124.9ms, total=136.7ms	[env.py: 1075]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.908, 0.049)	[env.py: 1079]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01438864  0.80529802  0.07791641] yaw=-155.5deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 22:37:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:37:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 22:37:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051637m	[env.py: 870]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.14159589  0.98161027  0.07791641] yaw=-141.3deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=19.2ms, retries=296.3ms, total=315.5ms	[env.py: 1075]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.988, 0.078)	[env.py: 1079]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 22:37:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 22:37:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041316m	[env.py: 870]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:37:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94646648  0.29295564  0.05163731] yaw=155.3deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:37:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:37:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94396257  0.26988581  0.05163731] yaw=164.3deg	[env.py: 1019]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89916566  0.20718235  0.04131566] yaw=158.5deg	[env.py: 1019]
-05/10 22:37:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:37:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95350825  0.98716034  0.04131566] yaw=-150.8deg	[env.py: 1019]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97613522  0.83561159  0.05163731] yaw=-143.1deg	[env.py: 1019]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=26.2ms, retries=761.1ms, total=787.3ms	[env.py: 1075]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.293, 0.052)	[env.py: 1079]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg	[env.py: 1082]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01424324  0.85897738  0.04131566] yaw=-153.3deg	[env.py: 1019]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=37.5ms, retries=582.9ms, total=620.3ms	[env.py: 1075]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.207, 0.041)	[env.py: 1079]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
-05/10 22:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:37:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:37:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:37:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:37:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.704s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:38:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 80.606[deg]	[grasp_sample.py: 539]
-05/10 22:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 25.911s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:38:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.431[m] 100.270[deg]	[grasp_sample.py: 539]
-05/10 22:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 27.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:38:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:38:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:38:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 27.232s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:38:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.356[m] 86.587[deg]	[grasp_sample.py: 539]
-05/10 22:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.480[deg]	[grasp_sample.py: 539]
-05/10 22:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:38:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:38:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:38:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:38:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:38:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:39:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:39:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:39:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:39:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:39:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:39:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:39:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:39:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:39:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:39:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:39:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]	[grasp_sample.py: 539]
-05/10 22:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 22:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:39:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:39:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:39:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021442m	[env.py: 870]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77004991  0.4076351   0.02144173] yaw=175.5deg	[env.py: 1019]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92645745  0.34855867  0.02144173] yaw=172.3deg	[env.py: 1019]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.979881    0.24180658  0.02144173] yaw=155.7deg	[env.py: 1019]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.9ms, total=138.9ms	[env.py: 1075]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.408, 0.021)	[env.py: 1079]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
-05/10 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:39:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:39:54 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:39:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:39:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:39:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.528[m] 99.537[deg]	[grasp_sample.py: 539]
-05/10 22:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:39:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:39:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:40:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:40:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:40:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:40:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:40:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:40:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.799[deg]	[grasp_sample.py: 539]
-05/10 22:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:40:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:40:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:40:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:40:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:40:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:40:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:40:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:40:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:41:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:41:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:41:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:41:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:41:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:41:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:41:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:41:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:41:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.48s (batch: 3.95s, save: 11.53s)	[pipeline.py: 300]
-05/10 22:41:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.81s:
-  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
-  sensor_polling: mean=447.1ms, total=134.13s, count=300, min=392.4ms, max=684.7ms
-  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11526.4ms, max=11526.4ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=16.5ms, max=51.5ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.0ms, max=3952.0ms
-  task_sampling: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=47.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:41:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:41:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.13s, save: 11.49s)	[pipeline.py: 300]
-05/10 22:41:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.60s:
-  episode_total: mean=210.29s, total=210.29s, count=1, min=210287.0ms, max=210287.0ms
-  sensor_polling: mean=445.8ms, total=133.73s, count=300, min=389.7ms, max=620.7ms
-  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11488.3ms, max=11488.3ms
-  physics_step: mean=20.4ms, total=6.12s, count=300, min=14.6ms, max=42.8ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4125.1ms, max=4125.1ms
-  task_sampling: mean=3.60s, total=3.60s, count=1, min=3601.2ms, max=3601.2ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  task_specific_sample: mean=590.0ms, total=590.0ms, count=1, min=590.0ms, max=590.0ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:41:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:41:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:41:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069805m	[env.py: 870]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74322966  0.3503497   0.0698051 ] yaw=176.6deg	[env.py: 1019]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91871736  1.06775905  0.0698051 ] yaw=-148.3deg	[env.py: 1019]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7994066   0.63251105  0.0698051 ] yaw=-160.6deg	[env.py: 1019]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms	[env.py: 1075]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.350, 0.070)	[env.py: 1079]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg	[env.py: 1082]
-05/10 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:41:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:41:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:41:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:41:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:41:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.170[deg]	[grasp_sample.py: 539]
-05/10 22:41:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:41:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:41:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:41:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:41:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082675m	[env.py: 870]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03131307  1.32258643  0.0826748 ] yaw=-130.2deg	[env.py: 1019]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219337  0.51121627  0.0826748 ] yaw=-169.6deg	[env.py: 1019]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84717076  0.06256661  0.0826748 ] yaw=162.7deg	[env.py: 1019]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.5ms, total=107.5ms	[env.py: 1075]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 1.323, 0.083)	[env.py: 1079]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
-05/10 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:41:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:41:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:41:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:41:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:41:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:41:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.462s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 22:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 22:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:41:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:41:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:41:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:41:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:41:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053487m	[env.py: 870]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:41:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99662649  1.29881911  0.05348663] yaw=-127.7deg	[env.py: 1019]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:41:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms	[env.py: 1075]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.299, 0.053)	[env.py: 1079]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg	[env.py: 1082]
-05/10 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:41:28 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:41:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:41:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:41:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:41:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:41:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:41:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:41:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:41:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:41:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:41:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 22:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 22:41:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:41:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:41:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:41:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:41:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:41:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034665m	[env.py: 870]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:41:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00444517  1.09810385  0.03466466] yaw=-136.6deg	[env.py: 1019]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69702867  0.40498994  0.03466466] yaw=167.6deg	[env.py: 1019]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96258832  0.89332976  0.03466466] yaw=-141.3deg	[env.py: 1019]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:41:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.098, 0.035)	[env.py: 1079]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
-05/10 22:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:41:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:41:31 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:41:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:41:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:41:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:41:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:41:31 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:41:31 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.247[deg]	[grasp_sample.py: 539]
-05/10 22:41:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:41:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:41:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:41:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.112s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:41:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 93.987[deg]	[grasp_sample.py: 539]
-05/10 22:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:41:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:41:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:41:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:41:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:42:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:42:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:42:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.94s, save: 8.06s)	[pipeline.py: 300]
-05/10 22:42:09 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s:
-  episode_total: mean=256.26s, total=256.26s, count=1, min=256257.0ms, max=256257.0ms
-  sensor_polling: mean=446.0ms, total=133.81s, count=300, min=391.7ms, max=671.8ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.6ms, max=8055.6ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=12.4ms, max=39.1ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.2ms, max=3939.2ms
-  task_sampling: mean=3.56s, total=3.56s, count=1, min=3555.9ms, max=3555.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  task_specific_sample: mean=850.2ms, total=850.2ms, count=1, min=850.2ms, max=850.2ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:42:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:42:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:42:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:42:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062488m	[env.py: 870]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84912958  0.82217829  0.06248755] yaw=-158.4deg	[env.py: 1019]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83685984  0.99070552  0.06248755] yaw=-143.6deg	[env.py: 1019]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69935673  0.1111107   0.06248755] yaw=160.0deg	[env.py: 1019]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms	[env.py: 1075]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.822, 0.062)	[env.py: 1079]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
-05/10 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:42:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:42:11 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:42:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:42:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:42:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:42:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:42:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:42:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 91.863[deg]	[grasp_sample.py: 539]
-05/10 22:42:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:42:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:42:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:42:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:42:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:42:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:42:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:42:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:42:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:42:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:42:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.25s (batch: 4.06s, save: 8.20s)	[pipeline.py: 300]
-05/10 22:42:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:42:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.24s:
-  episode_total: mean=152.08s, total=304.17s, count=2, min=119975.1ms, max=184194.8ms
-  sensor_polling: mean=449.8ms, total=210.49s, count=468, min=378.7ms, max=725.8ms
-  physics_step: mean=20.8ms, total=9.72s, count=468, min=15.1ms, max=68.3ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.2ms, max=8195.2ms
-  task_sampling: mean=2.12s, total=4.24s, count=2, min=385.0ms, max=3854.6ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.5ms, max=4057.5ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  task_specific_sample: mean=722.9ms, total=1.45s, count=2, min=381.9ms, max=1063.9ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms
-  mj_forward_sync: mean=516.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=34.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:43:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:43:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:43:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:43:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:43:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:43:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:43:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025142m	[env.py: 870]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:43:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94112882  0.74785383  0.02514232] yaw=-161.4deg	[env.py: 1019]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85778318  0.07358061  0.02514232] yaw=154.1deg	[env.py: 1019]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70319029  0.38667033  0.02514232] yaw=179.8deg	[env.py: 1019]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:43:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms	[env.py: 1075]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.748, 0.025)	[env.py: 1079]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
-05/10 22:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:43:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:43:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:43:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:43:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:43:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:43:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:43:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 90.090[deg]	[grasp_sample.py: 539]
-05/10 22:43:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:43:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:43:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:43:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:43:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:43:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:43:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:43:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:43:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:44:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:44:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:44:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:44:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:44:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:44:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.102[m] 4.205[deg]	[grasp_sample.py: 539]
-05/10 22:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:44:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:44:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:44:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:44:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:44:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:44:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:44:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:44:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:44:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.11s (batch: 3.63s, save: 11.48s)	[pipeline.py: 300]
-05/10 22:44:28 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.38s:
-  episode_total: mean=185.35s, total=185.35s, count=1, min=185352.6ms, max=185352.6ms
-  sensor_polling: mean=462.9ms, total=138.86s, count=300, min=403.9ms, max=719.3ms
-  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.1ms, max=11479.1ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.7ms, max=70.7ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3630.6ms, max=3630.6ms
-  task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
-  task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=380.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:44:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:44:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:44:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:44:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053927m	[env.py: 870]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84109265  0.7461015   0.05392742] yaw=-165.7deg	[env.py: 1019]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72208242  0.715298    0.05392742] yaw=-164.1deg	[env.py: 1019]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9192184   0.93208711  0.05392742] yaw=-145.9deg	[env.py: 1019]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:44:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.8ms, total=125.8ms	[env.py: 1075]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.746, 0.054)	[env.py: 1079]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
-05/10 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
-05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:44:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:44:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:44:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:44:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 78.092[deg]	[grasp_sample.py: 539]
-05/10 22:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:44:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:44:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:44:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:44:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:44:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:44:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:44:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:44:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:44:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.96s (batch: 3.89s, save: 8.07s)	[pipeline.py: 300]
-05/10 22:44:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.07s:
-  episode_total: mean=67.18s, total=201.55s, count=3, min=1904.3ms, max=197672.3ms
-  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=397.3ms, max=787.0ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8067.5ms, max=8067.5ms
-  physics_step: mean=20.6ms, total=6.19s, count=300, min=13.8ms, max=37.5ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.9ms, max=3894.9ms
-  task_sampling: mean=356.4ms, total=1.07s, count=3, min=329.9ms, max=373.6ms
-  task_specific_sample: mean=353.1ms, total=1.06s, count=3, min=327.2ms, max=370.4ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=532.0us, total=1.6ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:44:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:44:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:44:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:44:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:44:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:44:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:44:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011745m	[env.py: 870]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:44:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95274897  0.65035203  0.01174507] yaw=-166.4deg	[env.py: 1019]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7719951   0.50098328  0.01174507] yaw=-176.0deg	[env.py: 1019]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94010605  0.71200432  0.01174507] yaw=-159.4deg	[env.py: 1019]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms	[env.py: 1075]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.650, 0.012)	[env.py: 1079]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
-05/10 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:44:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:44:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:44:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:44:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.364[m] 96.025[deg]	[grasp_sample.py: 539]
-05/10 22:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:44:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:44:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:45:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:45:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:45:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.56s (batch: 3.89s, save: 7.67s)	[pipeline.py: 300]
-05/10 22:45:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:45:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
-  episode_total: mean=185.40s, total=185.40s, count=1, min=185395.5ms, max=185395.5ms
-  sensor_polling: mean=465.7ms, total=139.72s, count=300, min=393.8ms, max=791.0ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7672.3ms, max=7672.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=14.7ms, max=56.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.5ms, max=3887.5ms
-  task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
-  task_specific_sample: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:45:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:45:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:45:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:45:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:45:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:45:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:45:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080446m	[env.py: 870]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:45:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74332363  0.88131775  0.0804458 ] yaw=-163.3deg	[env.py: 1019]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77955304  0.88389665  0.0804458 ] yaw=-166.1deg	[env.py: 1019]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91861268  0.37051115  0.0804458 ] yaw=161.9deg	[env.py: 1019]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:45:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms	[env.py: 1075]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.881, 0.080)	[env.py: 1079]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg	[env.py: 1082]
-05/10 22:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:45:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:45:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:45:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:45:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:45:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:45:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:45:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:45:19 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.652[m] 92.845[deg]	[grasp_sample.py: 539]
-05/10 22:45:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:45:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:45:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:45:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:45:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:45:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:45:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:45:43 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 22:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:45:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.74s (batch: 3.79s, save: 9.95s)	[pipeline.py: 300]
-05/10 22:45:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
-  episode_total: mean=178.09s, total=178.09s, count=1, min=178088.1ms, max=178088.1ms
-  sensor_polling: mean=462.1ms, total=135.41s, count=293, min=389.1ms, max=830.4ms
-  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9948.8ms, max=9948.8ms
-  physics_step: mean=21.7ms, total=6.35s, count=293, min=13.5ms, max=68.7ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.6ms, max=3787.6ms
-  task_sampling: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
-  task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:45:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:45:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:45:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:45:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:45:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:45:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:45:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085114m	[env.py: 870]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:45:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0381564   1.2504275   0.08511438] yaw=-120.9deg	[env.py: 1019]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00353208  1.29448249  0.08511438] yaw=-137.3deg	[env.py: 1019]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65847062  0.43426079  0.08511438] yaw=185.1deg	[env.py: 1019]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:45:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.7ms	[env.py: 1075]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.250, 0.085)	[env.py: 1079]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg	[env.py: 1082]
-05/10 22:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:46:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:46:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:46:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:46:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 97.704[deg]	[grasp_sample.py: 539]
-05/10 22:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:46:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:46:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:46:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:46:55 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:47:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:47:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:47:19 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:47:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:47:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:47:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:47:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:47:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:47:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.08s (batch: 3.79s, save: 9.29s)	[pipeline.py: 300]
-05/10 22:47:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.57s, total=183.57s, count=1, min=183573.3ms, max=183573.3ms
-  sensor_polling: mean=452.1ms, total=135.63s, count=300, min=389.3ms, max=803.7ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9294.3ms, max=9294.3ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.5ms, max=46.0ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  task_sampling: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
-  task_specific_sample: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:47:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:47:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000316m	[env.py: 870]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.08560818e-01  9.27606655e-01  3.16318320e-04] yaw=-160.8deg	[env.py: 1019]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.45774684e-01  1.64604241e-01  3.16318320e-04] yaw=162.6deg	[env.py: 1019]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.1ms, total=378.1ms	[env.py: 1075]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.928, 0.000)	[env.py: 1079]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg	[env.py: 1082]
-05/10 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:47:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:47:36 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.193s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:47:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.056s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:47:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.685[m] 91.623[deg]	[grasp_sample.py: 539]
-05/10 22:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:47:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:47:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:47:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:47:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:47:41 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 22:47:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:47:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:47:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:47:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.91s (batch: 3.85s, save: 8.06s)	[pipeline.py: 300]
-05/10 22:47:53 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
-  episode_total: mean=183.46s, total=183.46s, count=1, min=183457.6ms, max=183457.6ms
-  sensor_polling: mean=454.1ms, total=134.42s, count=296, min=402.9ms, max=798.1ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8060.7ms, max=8060.7ms
-  physics_step: mean=20.6ms, total=6.11s, count=296, min=16.9ms, max=50.9ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.4ms, max=3849.4ms
-  task_sampling: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms
-  task_specific_sample: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=464.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:47:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:47:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:47:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:47:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:47:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064826m	[env.py: 870]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77909908  0.36449058  0.06482625] yaw=169.0deg	[env.py: 1019]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00905642  0.84973933  0.06482625] yaw=-150.6deg	[env.py: 1019]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17034042  1.06685253  0.06482625] yaw=-143.2deg	[env.py: 1019]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms	[env.py: 1075]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.364, 0.065)	[env.py: 1079]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg	[env.py: 1082]
-05/10 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:47:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:47:55 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:47:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:47:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:47:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:47:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:47:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:47:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.476[m] 88.074[deg]	[grasp_sample.py: 539]
-05/10 22:47:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:47:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:47:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:48:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:48:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:48:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:48:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:48:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:48:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:48:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:48:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.392s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 22:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 22:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:48:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092709m	[env.py: 870]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01385239  0.94937734  0.09270903] yaw=-137.3deg	[env.py: 1019]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90951962  1.15564395  0.09270903] yaw=-132.7deg	[env.py: 1019]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.949, 0.093)	[env.py: 1079]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/10 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:48:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:48:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:48:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:48:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:48:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 91.780[deg]	[grasp_sample.py: 539]
-05/10 22:48:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:48:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:48:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:48:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:48:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.06s (batch: 4.11s, save: 7.95s)	[pipeline.py: 300]
-05/10 22:48:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s:
-  episode_total: mean=183.60s, total=183.60s, count=1, min=183599.9ms, max=183599.9ms
-  sensor_polling: mean=455.9ms, total=136.77s, count=300, min=393.8ms, max=963.5ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7950.8ms, max=7950.8ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=14.2ms, max=65.7ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.9ms, max=4112.9ms
-  task_sampling: mean=378.2ms, total=378.2ms, count=1, min=378.2ms, max=378.2ms
-  task_specific_sample: mean=374.8ms, total=374.8ms, count=1, min=374.8ms, max=374.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:48:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:48:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:48:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070918m	[env.py: 870]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05710602  0.89610096  0.07091844] yaw=-147.9deg	[env.py: 1019]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13941578  1.03785513  0.07091844] yaw=-135.9deg	[env.py: 1019]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88699984  0.40017386  0.07091844] yaw=170.7deg	[env.py: 1019]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms	[env.py: 1075]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.896, 0.071)	[env.py: 1079]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
-05/10 22:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:48:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:48:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:48:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:48:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:48:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:48:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:48:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:48:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.630[deg]	[grasp_sample.py: 539]
-05/10 22:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:48:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:48:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:48:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:48:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:48:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:49:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:49:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:49:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:50:03 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:50:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:50:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:50:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:50:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:50:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:50:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:50:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.69s (batch: 4.41s, save: 10.28s)	[pipeline.py: 300]
-05/10 22:50:40 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:50:40 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
-  episode_total: mean=185.62s, total=185.62s, count=1, min=185620.2ms, max=185620.2ms
-  sensor_polling: mean=450.2ms, total=135.06s, count=300, min=380.9ms, max=737.1ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10282.3ms, max=10282.3ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=16.5ms, max=50.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4410.1ms, max=4410.1ms
-  task_sampling: mean=719.5ms, total=719.5ms, count=1, min=719.5ms, max=719.5ms
-  task_specific_sample: mean=715.5ms, total=715.5ms, count=1, min=715.5ms, max=715.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=28.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:50:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:50:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:50:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:50:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:50:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:50:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:50:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076326m	[env.py: 870]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:50:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85500155  0.81926386  0.07632642] yaw=-153.6deg	[env.py: 1019]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74657561 -0.00077965  0.07632642] yaw=148.7deg	[env.py: 1019]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81050812  0.21720884  0.07632642] yaw=164.7deg	[env.py: 1019]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:50:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms	[env.py: 1075]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.819, 0.076)	[env.py: 1079]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
-05/10 22:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:50:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:50:43 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:50:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:50:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:50:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:50:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:50:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:50:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.506[m] 97.464[deg]	[grasp_sample.py: 539]
-05/10 22:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:50:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:50:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:50:46 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:50:50 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:50:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:50:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:51:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:51:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:51:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:51:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:51:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:51:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 4.15s, save: 8.97s)	[pipeline.py: 300]
-05/10 22:51:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.37s:
-  episode_total: mean=189.11s, total=189.11s, count=1, min=189108.5ms, max=189108.5ms
-  sensor_polling: mean=454.9ms, total=136.48s, count=300, min=391.7ms, max=707.5ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8969.2ms, max=8969.2ms
-  physics_step: mean=22.8ms, total=6.84s, count=300, min=15.7ms, max=74.1ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
-  task_sampling: mean=371.2ms, total=371.2ms, count=1, min=371.2ms, max=371.2ms
-  task_specific_sample: mean=366.8ms, total=366.8ms, count=1, min=366.8ms, max=366.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=566.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:51:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:51:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063214m	[env.py: 870]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78178268  0.16125427  0.06321395] yaw=171.3deg	[env.py: 1019]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98684736  1.11021565  0.06321395] yaw=-148.9deg	[env.py: 1019]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.2ms, total=271.3ms	[env.py: 1075]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.161, 0.063)	[env.py: 1079]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
-05/10 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:51:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:51:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:51:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:51:06 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:51:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:51:06 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 22:51:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:51:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:51:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 93.872[deg]	[grasp_sample.py: 539]
-05/10 22:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:51:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:51:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:51:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:51:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.67s (batch: 4.36s, save: 8.32s)	[pipeline.py: 300]
-05/10 22:51:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.87s:
-  episode_total: mean=157.25s, total=314.50s, count=2, min=134986.1ms, max=179517.8ms
-  sensor_polling: mean=451.3ms, total=245.93s, count=545, min=381.4ms, max=789.2ms
-  physics_step: mean=21.1ms, total=11.48s, count=545, min=13.9ms, max=76.5ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.7ms, max=8318.7ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.6ms, max=4355.6ms
-  task_sampling: mean=436.7ms, total=873.5ms, count=2, min=359.4ms, max=514.0ms
-  task_specific_sample: mean=433.5ms, total=866.9ms, count=2, min=356.4ms, max=510.5ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=378.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:51:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:51:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031139m	[env.py: 870]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82862913  0.54912305  0.03113898] yaw=-174.0deg	[env.py: 1019]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79218234  0.34733954  0.03113898] yaw=181.2deg	[env.py: 1019]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81726392  0.72876498  0.03113898] yaw=-170.0deg	[env.py: 1019]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms	[env.py: 1075]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.549, 0.031)	[env.py: 1079]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
-05/10 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:51:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:51:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:51:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:51:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.412[m] 90.149[deg]	[grasp_sample.py: 539]
-05/10 22:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:51:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:51:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:51:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:51:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.13s (batch: 4.20s, save: 7.93s)	[pipeline.py: 300]
-05/10 22:51:19 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
-  episode_total: mean=176.93s, total=176.93s, count=1, min=176932.7ms, max=176932.7ms
-  sensor_polling: mean=454.7ms, total=133.23s, count=293, min=388.2ms, max=659.3ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7926.3ms, max=7926.3ms
-  physics_step: mean=21.2ms, total=6.20s, count=293, min=13.9ms, max=59.0ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.9ms, max=4201.9ms
-  task_sampling: mean=341.3ms, total=341.3ms, count=1, min=341.3ms, max=341.3ms
-  task_specific_sample: mean=337.7ms, total=337.7ms, count=1, min=337.7ms, max=337.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=391.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:51:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:51:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m	[env.py: 870]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89576796  0.355235    0.02866437] yaw=168.6deg	[env.py: 1019]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96220708  0.33619873  0.02866437] yaw=170.7deg	[env.py: 1019]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms	[env.py: 1075]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.355, 0.029)	[env.py: 1079]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
-05/10 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:51:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:51:21 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:51:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:51:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.357[m] 88.693[deg]	[grasp_sample.py: 539]
-05/10 22:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:51:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:51:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:51:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:51:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:52:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:52:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:52:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:52:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:52:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:53:08 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:53:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:53:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:53:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:53:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.05s (batch: 4.29s, save: 9.76s)	[pipeline.py: 300]
-05/10 22:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:53:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:53:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:53:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:53:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.706[deg]	[grasp_sample.py: 539]
-05/10 22:53:44 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.76s, total=181.76s, count=1, min=181764.5ms, max=181764.5ms
-  sensor_polling: mean=450.8ms, total=135.25s, count=300, min=373.8ms, max=662.3ms
-  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.9ms, max=9763.9ms
-  physics_step: mean=20.6ms, total=6.18s, count=300, min=13.5ms, max=41.4ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.9ms, max=4287.9ms
-  task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
-  task_specific_sample: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=619.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=30.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:53:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:53:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:53:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:53:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:53:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:53:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:53:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:53:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:53:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042417m	[env.py: 870]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:53:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82315677  0.05033498  0.04241678] yaw=150.5deg	[env.py: 1019]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84923007  0.39191628  0.04241678] yaw=184.9deg	[env.py: 1019]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00853221  0.17194942  0.04241678] yaw=159.3deg	[env.py: 1019]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:53:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms	[env.py: 1075]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.050, 0.042)	[env.py: 1079]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
-05/10 22:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:53:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:53:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:53:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:53:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:53:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:53:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:53:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.545[m] 85.455[deg]	[grasp_sample.py: 539]
-05/10 22:53:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:53:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:53:48 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:53:48 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:53:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:54:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:54:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:54:10 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 22:54:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:54:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:54:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:54:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:54:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:54:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:54:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:54:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:54:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.44s (batch: 3.87s, save: 7.58s)	[pipeline.py: 300]
-05/10 22:54:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:54:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:54:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.82s (batch: 4.03s, save: 7.78s)	[pipeline.py: 300]
-05/10 22:54:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s:
-  episode_total: mean=185.37s, total=185.37s, count=1, min=185374.8ms, max=185374.8ms
-  sensor_polling: mean=457.4ms, total=137.22s, count=300, min=390.8ms, max=774.2ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7579.9ms, max=7579.9ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.8ms, max=49.2ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.1ms, max=3865.1ms
-  task_sampling: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms
-  task_specific_sample: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:54:22 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=181.64s, total=181.64s, count=1, min=181642.4ms, max=181642.4ms
-  sensor_polling: mean=459.8ms, total=134.26s, count=292, min=394.5ms, max=689.1ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7784.9ms, max=7784.9ms
-  physics_step: mean=23.4ms, total=6.82s, count=292, min=14.0ms, max=44.2ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4032.5ms, max=4032.5ms
-  task_sampling: mean=462.3ms, total=462.3ms, count=1, min=462.3ms, max=462.3ms
-  task_specific_sample: mean=458.7ms, total=458.7ms, count=1, min=458.7ms, max=458.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:54:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:54:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052019m	[env.py: 870]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6983695   0.57458565  0.05201897] yaw=-182.9deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96967141  1.27976617  0.05201897] yaw=-138.1deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21259144  1.09120141  0.05201897] yaw=-135.5deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=166.9ms	[env.py: 1075]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.575, 0.052)	[env.py: 1079]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:54:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:54:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047876m	[env.py: 870]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99269261  0.79604298  0.04787647] yaw=-167.5deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87403229  0.14618019  0.04787647] yaw=154.6deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8901033   0.81030715  0.04787647] yaw=-165.4deg	[env.py: 1019]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms	[env.py: 1075]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.796, 0.048)	[env.py: 1079]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:54:24 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:54:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:54:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:54:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:54:24 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:54:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:54:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:54:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.602[m] 99.897[deg]	[grasp_sample.py: 539]
-05/10 22:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:54:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.349[m] 88.841[deg]	[grasp_sample.py: 539]
-05/10 22:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:54:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:54:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:54:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:54:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:54:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:54:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:54:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.85s (batch: 3.91s, save: 7.94s)	[pipeline.py: 300]
-05/10 22:54:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s:
-  episode_total: mean=205.42s, total=205.42s, count=1, min=205423.5ms, max=205423.5ms
-  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=395.2ms, max=616.5ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7938.5ms, max=7938.5ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=11.9ms, max=56.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.6ms, max=3911.6ms
-  task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms
-  task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=611.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:54:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:54:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098529m	[env.py: 870]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.68605572  0.29087067  0.09852885] yaw=168.9deg	[env.py: 1019]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=254.0ms	[env.py: 1075]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.291, 0.099)	[env.py: 1079]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
-05/10 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:54:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:54:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:54:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:54:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:54:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:54:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:54:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 89.226[deg]	[grasp_sample.py: 539]
-05/10 22:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:54:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:54:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:54:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:55:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:55:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:55:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:55:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:55:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:55:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:56:08 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:56:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:56:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:56:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:56:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.41s (batch: 3.74s, save: 7.67s)	[pipeline.py: 300]
-05/10 22:56:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:56:38 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=172.63s, total=172.63s, count=1, min=172633.2ms, max=172633.2ms
-  sensor_polling: mean=435.3ms, total=130.59s, count=300, min=384.6ms, max=680.9ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7671.2ms, max=7671.2ms
-  physics_step: mean=19.6ms, total=5.88s, count=300, min=13.5ms, max=29.6ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3739.2ms, max=3739.2ms
-  task_sampling: mean=407.8ms, total=407.8ms, count=1, min=407.8ms, max=407.8ms
-  task_specific_sample: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=556.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:56:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094944m	[env.py: 870]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79805251  0.63517966  0.09494403] yaw=-159.9deg	[env.py: 1019]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90917446  0.64951736  0.09494403] yaw=-166.1deg	[env.py: 1019]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80964404  0.92431605  0.09494403] yaw=-160.4deg	[env.py: 1019]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.1ms, total=159.2ms	[env.py: 1075]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.635, 0.095)	[env.py: 1079]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/10 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:56:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:56:40 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:56:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 83.454[deg]	[grasp_sample.py: 539]
-05/10 22:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:56:41 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:56:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:56:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 22:56:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 22:56:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 22:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:56:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.347s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:56:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.486[deg]	[grasp_sample.py: 539]
-05/10 22:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:56:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:56:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:56:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:56:57 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 22:57:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:57:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:57:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:57:04 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:57:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:57:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:57:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.66s (batch: 4.03s, save: 7.63s)	[pipeline.py: 300]
-05/10 22:57:09 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
-  episode_total: mean=165.09s, total=165.09s, count=1, min=165091.7ms, max=165091.7ms
-  sensor_polling: mean=431.8ms, total=125.22s, count=290, min=402.0ms, max=664.8ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7631.4ms, max=7631.4ms
-  physics_step: mean=19.2ms, total=5.58s, count=290, min=14.3ms, max=31.4ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms
-  task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
-  task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=544.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:57:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048441m	[env.py: 870]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04123618  0.86827455  0.04844126] yaw=-144.8deg	[env.py: 1019]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82468738  0.84828346  0.04844126] yaw=-158.0deg	[env.py: 1019]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.2ms	[env.py: 1075]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.868, 0.048)	[env.py: 1079]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
-05/10 22:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:57:11 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:57:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:57:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.20s (batch: 3.70s, save: 7.50s)	[pipeline.py: 300]
-05/10 22:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:57:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.349[m] 91.708[deg]	[grasp_sample.py: 539]
-05/10 22:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:57:12 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
-  episode_total: mean=167.96s, total=167.96s, count=1, min=167959.2ms, max=167959.2ms
-  sensor_polling: mean=426.5ms, total=127.96s, count=300, min=388.9ms, max=874.3ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7501.8ms, max=7501.8ms
-  physics_step: mean=19.8ms, total=5.93s, count=300, min=13.8ms, max=59.0ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.0ms, max=3696.0ms
-  task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms
-  task_specific_sample: mean=481.5ms, total=481.5ms, count=1, min=481.5ms, max=481.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:57:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:57:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:57:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:57:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:57:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:57:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:57:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001499m	[env.py: 870]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:57:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97669812  0.72898189  0.00149897] yaw=-149.8deg	[env.py: 1019]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84017954  0.83409935  0.00149897] yaw=-157.6deg	[env.py: 1019]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78905962  0.09357419  0.00149897] yaw=158.2deg	[env.py: 1019]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:57:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms	[env.py: 1075]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.729, 0.001)	[env.py: 1079]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
-05/10 22:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:57:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:57:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:57:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:57:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.327[m] 83.083[deg]	[grasp_sample.py: 539]
-05/10 22:57:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:57:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:57:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 22:57:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:57:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:57:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:57:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:57:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.51s (batch: 3.87s, save: 7.65s)	[pipeline.py: 300]
-05/10 22:57:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.54s:
-  episode_total: mean=181.83s, total=181.83s, count=1, min=181832.3ms, max=181832.3ms
-  sensor_polling: mean=431.8ms, total=129.55s, count=300, min=402.2ms, max=691.5ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.3ms, max=7647.3ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=13.0ms, max=31.6ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.4ms, max=3867.4ms
-  task_sampling: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms
-  task_specific_sample: mean=540.0ms, total=540.0ms, count=1, min=540.0ms, max=540.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:57:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:57:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:57:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:57:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031969m	[env.py: 870]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94646738  0.93728447  0.03196917] yaw=-143.5deg	[env.py: 1019]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73740599  0.6648713   0.03196917] yaw=-158.9deg	[env.py: 1019]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79786781  0.09643132  0.03196917] yaw=157.8deg	[env.py: 1019]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms	[env.py: 1075]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.937, 0.032)	[env.py: 1079]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
-05/10 22:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:57:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:57:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:57:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:57:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:57:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.505[deg]	[grasp_sample.py: 539]
-05/10 22:57:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:57:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:57:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:57:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:57:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:57:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:58:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:58:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 22:58:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:58:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:59:15 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:59:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 22:59:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 22:59:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:59:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:59:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:59:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:59:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.25s (batch: 3.76s, save: 7.49s)	[pipeline.py: 300]
-05/10 22:59:27 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s:
-  episode_total: mean=167.25s, total=167.25s, count=1, min=167247.3ms, max=167247.3ms
-  sensor_polling: mean=423.2ms, total=126.95s, count=300, min=381.5ms, max=643.6ms
-  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7491.0ms, max=7491.0ms
-  physics_step: mean=18.8ms, total=5.65s, count=300, min=14.3ms, max=29.8ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.3ms, max=3757.3ms
-  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  task_specific_sample: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=645.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:59:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:59:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:59:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:59:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:59:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:59:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098000m	[env.py: 870]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:59:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90086644  0.55961285  0.09800003] yaw=-182.3deg	[env.py: 1019]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87031715  0.45230665  0.09800003] yaw=175.5deg	[env.py: 1019]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:59:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.560, 0.098)	[env.py: 1079]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg	[env.py: 1082]
-05/10 22:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:59:29 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:59:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:59:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:59:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:59:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:59:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:59:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 95.129[deg]	[grasp_sample.py: 539]
-05/10 22:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:59:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:59:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:59:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:59:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 22:59:44 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 22:59:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 22:59:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 22:59:44 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 22:59:54 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 22:59:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:59:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:59:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 10.57s (batch: 3.75s, save: 6.82s)	[pipeline.py: 300]
-05/10 22:59:55 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.37s:
-  episode_total: mean=161.46s, total=161.46s, count=1, min=161455.3ms, max=161455.3ms
-  sensor_polling: mean=431.8ms, total=123.50s, count=286, min=405.7ms, max=794.9ms
-  save_trajectories: mean=6.82s, total=6.82s, count=1, min=6821.8ms, max=6821.8ms
-  physics_step: mean=18.9ms, total=5.41s, count=286, min=13.9ms, max=31.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.5ms, max=3751.5ms
-  task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms
-  task_specific_sample: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:59:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 22:59:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 22:59:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.79s (batch: 3.87s, save: 7.91s)	[pipeline.py: 300]
-05/10 22:59:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:59:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:59:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:59:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:59:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086477m	[env.py: 870]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:59:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69798396  0.43138453  0.08647667] yaw=169.9deg	[env.py: 1019]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76038231  0.02761602  0.08647667] yaw=162.6deg	[env.py: 1019]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01636125  1.01034501  0.08647667] yaw=-142.1deg	[env.py: 1019]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms	[env.py: 1075]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.431, 0.086)	[env.py: 1079]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg	[env.py: 1082]
-05/10 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
-  episode_total: mean=166.05s, total=166.05s, count=1, min=166046.2ms, max=166046.2ms
-  sensor_polling: mean=432.1ms, total=126.19s, count=292, min=401.5ms, max=622.5ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7914.6ms, max=7914.6ms
-  physics_step: mean=19.4ms, total=5.67s, count=292, min=14.5ms, max=28.9ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms
-  task_sampling: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms
-  task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 22:59:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:59:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:59:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:59:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:59:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 22:59:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 22:59:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.592[m] 98.411[deg]	[grasp_sample.py: 539]
-05/10 22:59:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 22:59:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 22:59:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 22:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 22:59:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 22:59:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 22:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 22:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 22:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040458m	[env.py: 870]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 22:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8882694   1.00585347  0.04045805] yaw=-146.6deg	[env.py: 1019]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82050444  0.094689    0.04045805] yaw=161.9deg	[env.py: 1019]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80412892  0.29941775  0.04045805] yaw=157.9deg	[env.py: 1019]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 22:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.3ms	[env.py: 1075]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 1.006, 0.040)	[env.py: 1079]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
-05/10 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 22:59:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 22:59:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 22:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 22:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 22:59:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 22:59:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:00:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:00:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 89.669[deg]	[grasp_sample.py: 539]
-05/10 23:00:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:00:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:00:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:00:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:00:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:00:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:00:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:00:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:00:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:00:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:00:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:00:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.90s (batch: 3.97s, save: 7.93s)	[pipeline.py: 300]
-05/10 23:00:26 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
-  episode_total: mean=170.03s, total=170.03s, count=1, min=170026.7ms, max=170026.7ms
-  sensor_polling: mean=428.8ms, total=128.65s, count=300, min=394.0ms, max=681.8ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.6ms, max=7930.6ms
-  physics_step: mean=19.0ms, total=5.71s, count=300, min=15.1ms, max=30.9ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.2ms, max=3970.2ms
-  task_sampling: mean=423.6ms, total=423.6ms, count=1, min=423.6ms, max=423.6ms
-  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=376.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:00:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:00:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:00:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:00:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:00:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:00:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:00:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037259m	[env.py: 870]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:00:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60765392  0.5839169   0.03725937] yaw=-166.3deg	[env.py: 1019]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86674506  0.28956572  0.03725937] yaw=174.7deg	[env.py: 1019]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68016772  0.77103289  0.03725937] yaw=-163.1deg	[env.py: 1019]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:00:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms	[env.py: 1075]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.608, 0.584, 0.037)	[env.py: 1079]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
-05/10 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:00:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:00:28 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:00:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:00:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:00:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:00:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:00:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.388s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:00:31 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.691[m] 90.178[deg]	[grasp_sample.py: 539]
-05/10 23:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:00:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:00:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:00:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:00:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:01:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:01:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:01:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:01:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:01:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:01:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:01:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:01:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:01:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:01:51 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.063[m] 3.251[deg]	[grasp_sample.py: 539]
-05/10 23:01:52 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:01:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:01:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:01:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:01:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:01:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009940m	[env.py: 870]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74941392  0.23961989  0.0099402 ] yaw=160.8deg	[env.py: 1019]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87399664  1.02069893  0.0099402 ] yaw=-158.3deg	[env.py: 1019]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76937964  0.90218196  0.0099402 ] yaw=-145.9deg	[env.py: 1019]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms	[env.py: 1075]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.240, 0.010)	[env.py: 1079]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg	[env.py: 1082]
-05/10 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:01:55 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:01:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:01:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:01:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:01:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:01:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:01:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:01:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.082[deg]	[grasp_sample.py: 539]
-05/10 23:01:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:01:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:01:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:02:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:02:17 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 23:02:25 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:02:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:02:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:02:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:02:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.30s (batch: 3.91s, save: 11.39s)	[pipeline.py: 300]
-05/10 23:02:34 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s:
-  episode_total: mean=184.64s, total=184.64s, count=1, min=184644.4ms, max=184644.4ms
-  sensor_polling: mean=447.7ms, total=132.97s, count=297, min=387.6ms, max=762.8ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11385.6ms, max=11385.6ms
-  physics_step: mean=22.0ms, total=6.52s, count=297, min=14.1ms, max=45.1ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.5ms, max=3909.5ms
-  task_sampling: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms
-  task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:02:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:02:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:02:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:02:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:02:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:02:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:02:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054724m	[env.py: 870]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:02:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73037763  0.35979698  0.05472371] yaw=168.7deg	[env.py: 1019]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95290688  0.422369    0.05472371] yaw=174.9deg	[env.py: 1019]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0021448   0.95633316  0.05472371] yaw=-151.4deg	[env.py: 1019]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:02:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms	[env.py: 1075]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.360, 0.055)	[env.py: 1079]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg	[env.py: 1082]
-05/10 23:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
-05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:02:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:02:36 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:02:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:02:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:02:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:02:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:02:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.674s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:02:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.528[m] 92.102[deg]	[grasp_sample.py: 539]
-05/10 23:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:02:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:02:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:02:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:02:50 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:02:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:02:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:02:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:02:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:02:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:02:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:03:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:03:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:03:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:03:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.56s (batch: 3.80s, save: 10.76s)	[pipeline.py: 300]
-05/10 23:03:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
-  episode_total: mean=188.76s, total=188.76s, count=1, min=188760.5ms, max=188760.5ms
-  sensor_polling: mean=459.1ms, total=137.73s, count=300, min=393.1ms, max=851.7ms
-  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10761.9ms, max=10761.9ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=14.0ms, max=69.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms
-  task_sampling: mean=441.9ms, total=441.9ms, count=1, min=441.9ms, max=441.9ms
-  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=602.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:03:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:03:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:03:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024172m	[env.py: 870]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.41s (batch: 4.19s, save: 11.22s)	[pipeline.py: 300]
-05/10 23:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms	[env.py: 1105]
-05/10 23:03:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 23:03:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 23:03:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.35s:
-  episode_total: mean=189.37s, total=189.37s, count=1, min=189372.7ms, max=189372.7ms
-  sensor_polling: mean=460.7ms, total=138.21s, count=300, min=395.9ms, max=828.5ms
-  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11224.6ms, max=11224.6ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=15.4ms, max=55.7ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.1ms, max=4190.1ms
-  task_sampling: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms
-  task_specific_sample: mean=342.0ms, total=342.0ms, count=1, min=342.0ms, max=342.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=409.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:03:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021769m	[env.py: 870]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0124824   1.18843333  0.02176932] yaw=-137.1deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99086151  0.74775623  0.02176932] yaw=-153.3deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65580689  0.30052194  0.02176932] yaw=173.8deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms	[env.py: 1075]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.188, 0.022)	[env.py: 1079]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg	[env.py: 1082]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:03:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:03:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:03:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:03:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:03:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090694m	[env.py: 870]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67243839  0.85116641  0.0906941 ] yaw=-158.7deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88144848  0.58480047  0.0906941 ] yaw=-166.4deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99806534  0.98653303  0.0906941 ] yaw=-152.0deg	[env.py: 1019]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.1ms	[env.py: 1075]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.851, 0.091)	[env.py: 1079]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
-05/10 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:03:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:03:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.742s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 83.481[deg]	[grasp_sample.py: 539]
-05/10 23:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:03:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:03:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.699[m] 89.345[deg]	[grasp_sample.py: 539]
-05/10 23:03:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:03:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:03:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:03:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:03:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:03:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:03:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:04:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:04:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:04:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:04:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:04:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:04:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:04:49 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:04:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:04:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:05:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:05:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.70s (batch: 3.84s, save: 8.86s)	[pipeline.py: 300]
-05/10 23:05:02 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.86s:
-  episode_total: mean=136.13s, total=272.26s, count=2, min=84330.6ms, max=187932.9ms
-  sensor_polling: mean=454.1ms, total=199.80s, count=440, min=392.1ms, max=805.8ms
-  physics_step: mean=22.1ms, total=9.72s, count=440, min=14.2ms, max=69.3ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.3ms, max=8857.3ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.3ms, max=3841.3ms
-  task_sampling: mean=428.6ms, total=857.2ms, count=2, min=380.1ms, max=477.1ms
-  task_specific_sample: mean=425.4ms, total=850.7ms, count=2, min=376.7ms, max=474.0ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms
-  mj_forward_sync: mean=390.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:05:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:05:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:05:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023719m	[env.py: 870]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74614313  0.2605178   0.02371915] yaw=176.3deg	[env.py: 1019]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93320469  0.54686341  0.02371915] yaw=-172.9deg	[env.py: 1019]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8000502   0.36590814  0.02371915] yaw=166.1deg	[env.py: 1019]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=550.3ms, total=550.3ms	[env.py: 1075]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.261, 0.024)	[env.py: 1079]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg	[env.py: 1082]
-05/10 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:05:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:05:05 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:05:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:05:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 90.433[deg]	[grasp_sample.py: 539]
-05/10 23:05:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:05:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:05:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:05:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.068[deg]	[grasp_sample.py: 539]
-05/10 23:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:05:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:05:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:05:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:05:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.024[deg]	[grasp_sample.py: 539]
-05/10 23:05:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:05:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:05:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:05:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.000[deg]	[grasp_sample.py: 539]
-05/10 23:05:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:05:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:05:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.597s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.384[deg]	[grasp_sample.py: 539]
-05/10 23:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:05:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:05:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:32 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:05:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:40 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:05:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:05:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:05:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:53 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.112[m] 0.211[deg]	[grasp_sample.py: 539]
-05/10 23:05:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:05:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:05:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:05:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:05:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:05:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:05:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:05:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019915m	[env.py: 870]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:05:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99644143  1.19127703  0.01991548] yaw=-135.0deg	[env.py: 1019]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75406384  0.6496604   0.01991548] yaw=-163.7deg	[env.py: 1019]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0122268   0.89200526  0.01991548] yaw=-150.4deg	[env.py: 1019]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:05:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.5ms	[env.py: 1075]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.191, 0.020)	[env.py: 1079]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
-05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:05:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:05:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:05:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:05:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:05:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:05:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:05:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:05:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:05:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 83.156[deg]	[grasp_sample.py: 539]
-05/10 23:05:59 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:06:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:06:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:06:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:06:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:06:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:06:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060513m	[env.py: 870]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:06:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92512675  0.87453013  0.06051314] yaw=-149.7deg	[env.py: 1019]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.836714    0.21346093  0.06051314] yaw=174.1deg	[env.py: 1019]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76436377  0.22133847  0.06051314] yaw=155.0deg	[env.py: 1019]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:06:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.9ms, total=187.9ms	[env.py: 1075]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.875, 0.061)	[env.py: 1079]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
-05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:06:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:06:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:06:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.944[deg]	[grasp_sample.py: 539]
-05/10 23:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:06:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:04 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:06:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:06:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:06:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:06:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:06:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.08s (batch: 4.08s, save: 8.00s)	[pipeline.py: 300]
-05/10 23:06:10 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
-  episode_total: mean=214.57s, total=214.57s, count=1, min=214571.8ms, max=214571.8ms
-  sensor_polling: mean=460.8ms, total=138.24s, count=300, min=395.0ms, max=664.9ms
-  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8005.0ms, max=8005.0ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.4ms, max=4075.4ms
-  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
-  task_specific_sample: mean=467.4ms, total=467.4ms, count=1, min=467.4ms, max=467.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=509.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:06:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:06:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:06:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:06:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019549m	[env.py: 870]
-05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83056005  0.18051842  0.01954868] yaw=168.1deg	[env.py: 1019]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02640509  1.21315674  0.01954868] yaw=-133.3deg	[env.py: 1019]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72818197  0.297824    0.01954868] yaw=177.2deg	[env.py: 1019]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.7ms, total=467.7ms	[env.py: 1075]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.181, 0.020)	[env.py: 1079]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg	[env.py: 1082]
-05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:06:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.104s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:06:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 95.249[deg]	[grasp_sample.py: 539]
-05/10 23:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:06:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:06:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:06:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:06:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.62s (batch: 3.87s, save: 9.75s)	[pipeline.py: 300]
-05/10 23:06:18 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=188.63s, total=188.63s, count=1, min=188631.2ms, max=188631.2ms
-  sensor_polling: mean=459.2ms, total=137.77s, count=300, min=397.2ms, max=752.9ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.0ms, max=9750.0ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.0ms, max=88.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.7ms, max=3868.7ms
-  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
-  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:06:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:06:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:06:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:06:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:06:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:06:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006897m	[env.py: 870]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:06:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92177406  0.76590406  0.00689695] yaw=-149.5deg	[env.py: 1019]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71163099  0.32276216  0.00689695] yaw=179.5deg	[env.py: 1019]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70008078  0.8567145   0.00689695] yaw=-170.3deg	[env.py: 1019]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.766, 0.007)	[env.py: 1079]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:06:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:06:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:06:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:06:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 92.386[deg]	[grasp_sample.py: 539]
-05/10 23:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:06:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:07:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:07:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:07:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:07:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:07:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:07:35 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:08:01 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:08:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:08:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:08:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:08:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:08:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.19s (batch: 4.02s, save: 9.17s)	[pipeline.py: 300]
-05/10 23:08:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.86s:
-  episode_total: mean=191.45s, total=191.45s, count=1, min=191448.9ms, max=191448.9ms
-  sensor_polling: mean=465.8ms, total=139.73s, count=300, min=389.7ms, max=906.0ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9172.0ms, max=9172.0ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=16.9ms, max=47.2ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.1ms, max=4018.1ms
-  task_sampling: mean=861.0ms, total=861.0ms, count=1, min=861.0ms, max=861.0ms
-  task_specific_sample: mean=856.7ms, total=856.7ms, count=1, min=856.7ms, max=856.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=529.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:08:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:08:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:08:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:08:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:08:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:08:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:08:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099842m	[env.py: 870]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:08:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81496537  0.71384348  0.09984246] yaw=-172.7deg	[env.py: 1019]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8914515   0.87005433  0.09984246] yaw=-146.4deg	[env.py: 1019]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03283366  1.31754054  0.09984246] yaw=-120.0deg	[env.py: 1019]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:08:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms	[env.py: 1075]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.714, 0.100)	[env.py: 1079]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg	[env.py: 1082]
-05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:08:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:08:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:08:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:08:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:08:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:08:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 80.364[deg]	[grasp_sample.py: 539]
-05/10 23:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:08:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:08:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:08:28 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:08:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:08:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:08:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:08:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:08:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:08:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:08:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.804[deg]	[grasp_sample.py: 539]
-05/10 23:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:08:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:08:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:08:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:08:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:08:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:08:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:02 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:09:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:09:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:09:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.71s (batch: 4.83s, save: 8.87s)	[pipeline.py: 300]
-05/10 23:09:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.14s:
-  episode_total: mean=88.13s, total=352.51s, count=4, min=199.9ms, max=183659.1ms
-  sensor_polling: mean=457.2ms, total=260.63s, count=570, min=390.9ms, max=932.9ms
-  physics_step: mean=21.1ms, total=12.02s, count=570, min=13.7ms, max=52.4ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8873.8ms, max=8873.8ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
-  task_specific_sample: mean=332.2ms, total=1.33s, count=4, min=192.6ms, max=427.2ms
-  task_sampling: mean=381.6ms, total=1.14s, count=3, min=346.8ms, max=430.9ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.1ms, max=3.4ms
-  mj_forward_sync: mean=431.2us, total=1.7ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:09:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009666m	[env.py: 870]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76303089  0.33473873  0.00966643] yaw=163.1deg	[env.py: 1019]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97934995  1.14923109  0.00966643] yaw=-132.5deg	[env.py: 1019]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70376472  0.50597531  0.00966643] yaw=-172.4deg	[env.py: 1019]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms	[env.py: 1075]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.335, 0.010)	[env.py: 1079]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
-05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:09:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:09:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:09:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 86.199[deg]	[grasp_sample.py: 539]
-05/10 23:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:09:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:09:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:09:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:09:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:09:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:09:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.57s (batch: 4.01s, save: 8.57s)	[pipeline.py: 300]
-05/10 23:09:20 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.40s:
-  episode_total: mean=180.78s, total=180.78s, count=1, min=180782.7ms, max=180782.7ms
-  sensor_polling: mean=445.5ms, total=133.64s, count=300, min=388.6ms, max=842.7ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8565.2ms, max=8565.2ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.9ms, max=105.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.1ms, max=4009.1ms
-  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
-  task_specific_sample: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=402.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:09:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:09:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:09:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:09:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:09:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:09:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050043m	[env.py: 870]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:09:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01988596  1.22744096  0.05004333] yaw=-130.7deg	[env.py: 1019]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96005084  0.86684374  0.05004333] yaw=-151.1deg	[env.py: 1019]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6678634   0.15019616  0.05004333] yaw=171.7deg	[env.py: 1019]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:09:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms	[env.py: 1075]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 1.227, 0.050)	[env.py: 1079]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg	[env.py: 1082]
-05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:09:22 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:09:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:09:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:09:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.931s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:09:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 92.849[deg]	[grasp_sample.py: 539]
-05/10 23:09:27 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:09:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:09:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:09:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068614m	[env.py: 870]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9294979   0.1920714   0.06861409] yaw=151.6deg	[env.py: 1019]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88711045  0.13451789  0.06861409] yaw=152.2deg	[env.py: 1019]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76500749  0.4411196   0.06861409] yaw=177.3deg	[env.py: 1019]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms	[env.py: 1075]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.192, 0.069)	[env.py: 1079]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.6 deg	[env.py: 1082]
-05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:09:28 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:09:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:09:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.368[m] 84.336[deg]	[grasp_sample.py: 539]
-05/10 23:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:09:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:09:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:09:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:09:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.33s (batch: 4.44s, save: 7.89s)	[pipeline.py: 300]
-05/10 23:09:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
-  episode_total: mean=204.76s, total=204.76s, count=1, min=204760.9ms, max=204760.9ms
-  sensor_polling: mean=461.5ms, total=138.46s, count=300, min=383.9ms, max=848.8ms
-  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7893.2ms, max=7893.2ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.6ms, max=58.5ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4437.4ms, max=4437.4ms
-  task_sampling: mean=736.4ms, total=736.4ms, count=1, min=736.4ms, max=736.4ms
-  task_specific_sample: mean=732.6ms, total=732.6ms, count=1, min=732.6ms, max=732.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:09:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:09:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:09:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:09:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025875m	[env.py: 870]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71695438  0.95145651  0.0258746 ] yaw=-157.4deg	[env.py: 1019]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90460923  0.14255251  0.0258746 ] yaw=162.3deg	[env.py: 1019]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843734  1.17592281  0.0258746 ] yaw=-125.2deg	[env.py: 1019]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.4ms, total=112.4ms	[env.py: 1075]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.951, 0.026)	[env.py: 1079]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
-05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:09:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:09:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:09:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:09:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:09:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 77.826[deg]	[grasp_sample.py: 539]
-05/10 23:09:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:09:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:09:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:09:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:09:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:09:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:09:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080914m	[env.py: 870]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:09:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18629076  1.11918595  0.08091379] yaw=-126.8deg	[env.py: 1019]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78691895  0.88938164  0.08091379] yaw=-155.0deg	[env.py: 1019]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85983502  1.00820193  0.08091379] yaw=-147.5deg	[env.py: 1019]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.186, 1.119, 0.081)	[env.py: 1079]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg	[env.py: 1082]
-05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:09:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:09:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:09:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:09:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:09:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 94.043[deg]	[grasp_sample.py: 539]
-05/10 23:09:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:09:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:09:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:09:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:10:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:10:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:10:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:10:42 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:08 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:11:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:11:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:11:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:11:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:11:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:11:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:11:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:11:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.173[deg]	[grasp_sample.py: 539]
-05/10 23:11:12 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:11:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:11:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:11:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:11:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:11:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:11:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016157m	[env.py: 870]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:11:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92559042  0.35279308  0.01615693] yaw=171.4deg	[env.py: 1019]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76913931  0.1905269   0.01615693] yaw=153.5deg	[env.py: 1019]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80133331  0.01050044  0.01615693] yaw=146.7deg	[env.py: 1019]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms	[env.py: 1075]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.353, 0.016)	[env.py: 1079]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
-05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:11:14 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:11:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:11:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:11:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:11:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:11:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.362[m] 91.825[deg]	[grasp_sample.py: 539]
-05/10 23:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:11:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:11:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:11:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.31s (batch: 3.99s, save: 8.32s)	[pipeline.py: 300]
-05/10 23:11:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
-  episode_total: mean=183.75s, total=183.75s, count=1, min=183745.0ms, max=183745.0ms
-  sensor_polling: mean=445.5ms, total=133.65s, count=300, min=383.4ms, max=802.9ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.6ms, max=8316.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.4ms, max=63.8ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.7ms, max=3990.7ms
-  task_sampling: mean=583.2ms, total=583.2ms, count=1, min=583.2ms, max=583.2ms
-  task_specific_sample: mean=579.3ms, total=579.3ms, count=1, min=579.3ms, max=579.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:11:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:11:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:11:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:11:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034532m	[env.py: 870]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90041088  0.87476668  0.03453159] yaw=-147.9deg	[env.py: 1019]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9944639   0.91848741  0.03453159] yaw=-143.3deg	[env.py: 1019]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87122593  0.50159659  0.03453159] yaw=-183.1deg	[env.py: 1019]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:11:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.1ms	[env.py: 1075]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.875, 0.035)	[env.py: 1079]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
-05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:11:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:11:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:11:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:11:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:11:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.721[deg]	[grasp_sample.py: 539]
-05/10 23:11:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:11:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:11:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:49 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:11:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:11:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:11:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.498s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:11:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]	[grasp_sample.py: 539]
-05/10 23:11:55 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:11:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:11:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:11:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061715m	[env.py: 870]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02537089  1.14829214  0.06171526] yaw=-130.9deg	[env.py: 1019]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65433755  0.46459842  0.06171526] yaw=178.6deg	[env.py: 1019]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90105291  0.60888993  0.06171526] yaw=-179.6deg	[env.py: 1019]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.6ms	[env.py: 1075]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.148, 0.062)	[env.py: 1079]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
-05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:11:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:11:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:11:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:11:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:11:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:11:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:11:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.509[m] 85.285[deg]	[grasp_sample.py: 539]
-05/10 23:12:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:12:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:12:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:12:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:12:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:12:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.40s (batch: 4.32s, save: 8.08s)	[pipeline.py: 300]
-05/10 23:12:28 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
-  episode_total: mean=202.02s, total=202.02s, count=1, min=202020.5ms, max=202020.5ms
-  sensor_polling: mean=459.3ms, total=137.78s, count=300, min=392.1ms, max=769.1ms
-  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8080.1ms, max=8080.1ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.5ms, max=39.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.5ms, max=4323.5ms
-  task_sampling: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  task_specific_sample: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:12:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:12:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:12:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:12:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:12:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:12:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031121m	[env.py: 870]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:12:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88450412  0.87225546  0.03112136] yaw=-148.4deg	[env.py: 1019]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82583343  1.10198974  0.03112136] yaw=-145.9deg	[env.py: 1019]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6833781   0.87154561  0.03112136] yaw=-153.5deg	[env.py: 1019]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:12:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.9ms	[env.py: 1075]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.031)	[env.py: 1079]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg	[env.py: 1082]
-05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:12:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:12:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:12:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:12:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:12:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:12:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:12:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.507[m] 92.821[deg]	[grasp_sample.py: 539]
-05/10 23:12:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:12:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:12:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:12:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:12:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:12:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:12:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:12:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:12:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.452[deg]	[grasp_sample.py: 539]
-05/10 23:12:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:12:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:12:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:13:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:13:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:13:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:13:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:13:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:13:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:13:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:13:49 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:13:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:15 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:14:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:14:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:14:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:14:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:14:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:14:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.479s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 23:14:19 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 23:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:14:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087780m	[env.py: 870]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63238644  0.59686233  0.08777963] yaw=-178.5deg	[env.py: 1019]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72883175  0.35825008  0.08777963] yaw=179.2deg	[env.py: 1019]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01216485  0.80105399  0.08777963] yaw=-147.8deg	[env.py: 1019]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.8ms	[env.py: 1075]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.597, 0.088)	[env.py: 1079]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg	[env.py: 1082]
-05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:14:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:14:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:14:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:14:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:14:22 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:14:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:14:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:14:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.590[m] 76.315[deg]	[grasp_sample.py: 539]
-05/10 23:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:14:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:14:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:14:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:14:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:14:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.87s, save: 8.12s)	[pipeline.py: 300]
-05/10 23:14:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.56s:
-  episode_total: mean=184.89s, total=184.89s, count=1, min=184890.8ms, max=184890.8ms
-  sensor_polling: mean=454.0ms, total=136.19s, count=300, min=389.4ms, max=795.0ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.7ms, max=8118.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.9ms, max=61.7ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.6ms, max=3868.6ms
-  task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms
-  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:14:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:14:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:14:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:14:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:14:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:14:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055336m	[env.py: 870]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:14:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68897646  0.49298975  0.05533634] yaw=-174.4deg	[env.py: 1019]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00333088  0.19104732  0.05533634] yaw=163.0deg	[env.py: 1019]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92447315  0.65035494  0.05533634] yaw=-166.0deg	[env.py: 1019]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:14:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms	[env.py: 1075]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.493, 0.055)	[env.py: 1079]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
-05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:14:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:14:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:14:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:14:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:14:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:14:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:14:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.856[deg]	[grasp_sample.py: 539]
-05/10 23:14:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:14:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:14:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:14:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:14:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:14:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.41s (batch: 4.00s, save: 8.41s)	[pipeline.py: 300]
-05/10 23:14:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s:
-  episode_total: mean=103.21s, total=309.64s, count=3, min=4564.0ms, max=201376.4ms
-  sensor_polling: mean=456.7ms, total=221.96s, count=486, min=389.8ms, max=884.8ms
-  physics_step: mean=22.3ms, total=10.84s, count=486, min=13.6ms, max=68.3ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8408.3ms, max=8408.3ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.3ms, max=4003.3ms
-  task_sampling: mean=364.8ms, total=1.09s, count=3, min=307.0ms, max=445.9ms
-  task_specific_sample: mean=361.7ms, total=1.09s, count=3, min=304.1ms, max=442.2ms
-  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.5ms
-  mj_forward_sync: mean=443.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:14:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:14:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:14:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:14:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:14:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:14:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088841m	[env.py: 870]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:14:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9141143   1.043622    0.08884136] yaw=-149.9deg	[env.py: 1019]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84054035  0.70336601  0.08884136] yaw=-167.7deg	[env.py: 1019]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60969059  0.43620205  0.08884136] yaw=172.1deg	[env.py: 1019]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:14:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.5ms, total=380.5ms	[env.py: 1075]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 1.044, 0.089)	[env.py: 1079]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
-05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:14:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:14:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:14:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:14:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:14:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:14:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.264s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:14:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.582[m] 82.961[deg]	[grasp_sample.py: 539]
-05/10 23:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:14:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:15:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:15:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:15:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:15:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:15:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:15:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.94s (batch: 3.98s, save: 7.97s)	[pipeline.py: 300]
-05/10 23:15:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=184.63s, total=184.63s, count=1, min=184628.9ms, max=184628.9ms
-  sensor_polling: mean=453.5ms, total=136.04s, count=300, min=376.4ms, max=793.5ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7967.1ms, max=7967.1ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=14.1ms, max=58.6ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.5ms, max=3977.5ms
-  task_sampling: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms
-  task_specific_sample: mean=465.7ms, total=465.7ms, count=1, min=465.7ms, max=465.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:15:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:15:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050939m	[env.py: 870]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77535592  0.1748737   0.05093892] yaw=172.4deg	[env.py: 1019]
-05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72993338  0.81569096  0.05093892] yaw=-163.1deg	[env.py: 1019]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79251365  0.89827407  0.05093892] yaw=-148.1deg	[env.py: 1019]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.175, 0.051)	[env.py: 1079]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
-05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
-05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:15:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:15:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:15:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:15:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:15:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:15:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 89.410[deg]	[grasp_sample.py: 539]
-05/10 23:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:15:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:15:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 23:15:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:15:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:15:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.631[deg]	[grasp_sample.py: 539]
-05/10 23:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:16:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:16:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:16:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:16:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:16:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:16:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:16:47 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:16:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:17:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:17:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:17:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:17:11 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:17:20 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:17:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:17:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.99s (batch: 4.89s, save: 8.10s)	[pipeline.py: 300]
-05/10 23:17:23 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.73s:
-  episode_total: mean=115.06s, total=460.23s, count=4, min=2897.8ms, max=182178.1ms
-  sensor_polling: mean=445.7ms, total=363.66s, count=816, min=373.8ms, max=915.7ms
-  physics_step: mean=21.3ms, total=17.39s, count=816, min=13.7ms, max=66.4ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8098.4ms, max=8098.4ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4891.6ms, max=4891.6ms
-  task_sampling: mean=431.9ms, total=1.73s, count=4, min=358.0ms, max=565.0ms
-  task_specific_sample: mean=428.7ms, total=1.71s, count=4, min=355.2ms, max=561.0ms
-  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.1ms, max=2.4ms
-  mj_forward_sync: mean=416.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:17:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:17:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:17:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:17:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:17:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:17:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031035m	[env.py: 870]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:17:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83505234  0.93351166  0.03103468] yaw=-142.5deg	[env.py: 1019]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85209926  1.16649094  0.03103468] yaw=-150.5deg	[env.py: 1019]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75132531  0.59733863  0.03103468] yaw=-167.8deg	[env.py: 1019]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms	[env.py: 1075]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.934, 0.031)	[env.py: 1079]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.5 deg	[env.py: 1082]
-05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:17:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:17:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:17:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 84.982[deg]	[grasp_sample.py: 539]
-05/10 23:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:17:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:17:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:17:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:17:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.18s (batch: 4.06s, save: 8.12s)	[pipeline.py: 300]
-05/10 23:17:33 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
-  episode_total: mean=184.29s, total=184.29s, count=1, min=184290.9ms, max=184290.9ms
-  sensor_polling: mean=452.6ms, total=135.77s, count=300, min=398.0ms, max=848.9ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8119.0ms, max=8119.0ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=14.1ms, max=49.5ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.3ms, max=4058.3ms
-  task_sampling: mean=541.6ms, total=541.6ms, count=1, min=541.6ms, max=541.6ms
-  task_specific_sample: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:17:33 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:17:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:17:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:17:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043583m	[env.py: 870]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77045905  0.53734807  0.04358324] yaw=-166.5deg	[env.py: 1019]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11652541  1.14985314  0.04358324] yaw=-132.8deg	[env.py: 1019]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.537, 0.044)	[env.py: 1079]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
-05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:17:35 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:17:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:17:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 85.668[deg]	[grasp_sample.py: 539]
-05/10 23:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:17:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:17:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:17:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:17:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:17:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.33s (batch: 3.92s, save: 11.41s)	[pipeline.py: 300]
-05/10 23:17:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.66s:
-  episode_total: mean=192.89s, total=192.89s, count=1, min=192888.7ms, max=192888.7ms
-  sensor_polling: mean=450.3ms, total=135.08s, count=300, min=387.2ms, max=841.2ms
-  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11406.9ms, max=11406.9ms
-  physics_step: mean=20.5ms, total=6.14s, count=300, min=13.8ms, max=38.1ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.7ms, max=3920.7ms
-  task_sampling: mean=657.5ms, total=657.5ms, count=1, min=657.5ms, max=657.5ms
-  task_specific_sample: mean=650.2ms, total=650.2ms, count=1, min=650.2ms, max=650.2ms
-  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  mj_forward_sync: mean=449.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:17:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:17:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:17:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:17:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054046m	[env.py: 870]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71513184  0.91201901  0.05404621] yaw=-150.5deg	[env.py: 1019]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94391485  0.50665513  0.05404621] yaw=-188.3deg	[env.py: 1019]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87642087  0.53795885  0.05404621] yaw=-170.7deg	[env.py: 1019]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:17:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.0ms, total=168.1ms	[env.py: 1075]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.912, 0.054)	[env.py: 1079]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:17:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:17:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:17:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:17:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:17:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:17:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:17:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.639[m] 71.985[deg]	[grasp_sample.py: 539]
-05/10 23:17:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:17:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:17:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:18:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:18:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:18:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:18:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.867[deg]	[grasp_sample.py: 539]
-05/10 23:18:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:18:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:18:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:18:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:18:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:18:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:18:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:18:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:18:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:18:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:18:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.87s (batch: 3.81s, save: 9.06s)	[pipeline.py: 300]
-05/10 23:18:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=195.53s, total=195.53s, count=1, min=195529.9ms, max=195529.9ms
-  sensor_polling: mean=457.0ms, total=137.09s, count=300, min=383.9ms, max=931.5ms
-  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9058.0ms, max=9058.0ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=71.3ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.5ms, max=3808.5ms
-  task_sampling: mean=368.1ms, total=368.1ms, count=1, min=368.1ms, max=368.1ms
-  task_specific_sample: mean=363.8ms, total=363.8ms, count=1, min=363.8ms, max=363.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:18:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:18:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:18:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:18:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:18:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:18:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:18:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049946m	[env.py: 870]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:18:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94939974  0.64360502  0.0499456 ] yaw=-168.7deg	[env.py: 1019]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15025367  1.07719425  0.0499456 ] yaw=-143.5deg	[env.py: 1019]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11207081  0.9852136   0.0499456 ] yaw=-138.2deg	[env.py: 1019]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:18:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms	[env.py: 1075]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.644, 0.050)	[env.py: 1079]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
-05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:18:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:18:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:18:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:18:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:18:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:18:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:18:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:18:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 102.274[deg]	[grasp_sample.py: 539]
-05/10 23:18:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:18:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:18:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:18:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:19:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:19:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:19:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:19:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:19:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:50 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:19:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:19:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:19:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:19:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:19:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.390s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:19:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.490[deg]	[grasp_sample.py: 539]
-05/10 23:19:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:20:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:20:11 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:20:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:20:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:20:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:20:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:20:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.96s (batch: 4.67s, save: 9.29s)	[pipeline.py: 300]
-05/10 23:20:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=181.25s, total=181.25s, count=1, min=181252.5ms, max=181252.5ms
-  sensor_polling: mean=447.3ms, total=134.18s, count=300, min=375.9ms, max=868.6ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.0ms, max=9289.0ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.6ms, max=54.6ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.2ms, max=4672.2ms
-  task_sampling: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
-  task_specific_sample: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:20:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:20:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011674m	[env.py: 870]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00662018  1.2495258   0.01167393] yaw=-141.9deg	[env.py: 1019]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94610444  0.17929252  0.01167393] yaw=155.9deg	[env.py: 1019]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80738794  0.69778829  0.01167393] yaw=-177.8deg	[env.py: 1019]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.0ms, total=74.1ms	[env.py: 1075]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.250, 0.012)	[env.py: 1079]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
-05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:20:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:20:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:20:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:20:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:20:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 86.121[deg]	[grasp_sample.py: 539]
-05/10 23:20:30 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:20:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:20:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:20:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:20:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:20:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:20:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087596m	[env.py: 870]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:20:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94001052  0.38712995  0.08759611] yaw=172.9deg	[env.py: 1019]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83387378  0.53923879  0.08759611] yaw=-167.4deg	[env.py: 1019]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74824286  0.37428297  0.08759611] yaw=165.5deg	[env.py: 1019]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.2ms	[env.py: 1075]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.387, 0.088)	[env.py: 1079]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg	[env.py: 1082]
-05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:20:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:20:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.304[m] 86.603[deg]	[grasp_sample.py: 539]
-05/10 23:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:20:37 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:20:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:20:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:20:41 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:20:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:20:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:20:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:20:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:20:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.17s (batch: 4.05s, save: 10.12s)	[pipeline.py: 300]
-05/10 23:20:52 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.44s:
-  episode_total: mean=197.26s, total=197.26s, count=1, min=197260.0ms, max=197260.0ms
-  sensor_polling: mean=456.7ms, total=137.02s, count=300, min=390.7ms, max=889.5ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10121.1ms, max=10121.1ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=16.9ms, max=48.2ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.1ms, max=4045.1ms
-  task_sampling: mean=441.2ms, total=441.2ms, count=1, min=441.2ms, max=441.2ms
-  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:20:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:20:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013231m	[env.py: 870]
-05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70591604  0.82921257  0.01323072] yaw=-169.5deg	[env.py: 1019]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6738052   0.13034528  0.01323072] yaw=153.3deg	[env.py: 1019]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=457.6ms, total=457.6ms	[env.py: 1075]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.829, 0.013)	[env.py: 1079]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg	[env.py: 1082]
-05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:20:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:20:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.052s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:20:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 92.865[deg]	[grasp_sample.py: 539]
-05/10 23:20:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:20:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:20:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:20:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.30s, save: 11.30s)	[pipeline.py: 300]
-05/10 23:20:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:20:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:20:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
-  episode_total: mean=186.10s, total=186.10s, count=1, min=186097.0ms, max=186097.0ms
-  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=389.2ms, max=972.1ms
-  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11300.6ms, max=11300.6ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.1ms, max=49.0ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.5ms, max=4304.5ms
-  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:20:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:20:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:20:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:20:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064039m	[env.py: 870]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63288581  0.28576038  0.06403896] yaw=175.2deg	[env.py: 1019]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00184497  0.77861849  0.06403896] yaw=-165.0deg	[env.py: 1019]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms	[env.py: 1075]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.286, 0.064)	[env.py: 1079]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
-05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:20:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:20:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:20:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:20:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:20:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:20:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:21:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:21:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.655[m] 92.411[deg]	[grasp_sample.py: 539]
-05/10 23:21:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:21:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:21:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:21:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:21:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:21:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:21:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:21:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:21:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:22:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.91s (batch: 3.86s, save: 10.05s)	[pipeline.py: 300]
-05/10 23:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.05s, total=189.05s, count=1, min=189051.2ms, max=189051.2ms
-  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=384.5ms, max=944.0ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10054.9ms, max=10054.9ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.8ms, max=47.9ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.2ms, max=3857.2ms
-  task_sampling: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
-  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:22:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:22:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:22:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:22:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:22:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:22:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034938m	[env.py: 870]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:22:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96926983  0.96649758  0.03493774] yaw=-155.2deg	[env.py: 1019]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00193814  1.08350053  0.03493774] yaw=-132.2deg	[env.py: 1019]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82263298  0.12315937  0.03493774] yaw=166.8deg	[env.py: 1019]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:22:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms	[env.py: 1075]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.966, 0.035)	[env.py: 1079]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
-05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:22:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:22:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:22:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:22:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 78.846[deg]	[grasp_sample.py: 539]
-05/10 23:22:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:22:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:22:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:22:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:22:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:22:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:22:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.355s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:22:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.291[deg]	[grasp_sample.py: 539]
-05/10 23:22:07 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:22:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:22:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:22:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:22:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:22:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098070m	[env.py: 870]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63742084  0.54004988  0.09807029] yaw=-171.4deg	[env.py: 1019]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9422317   0.24074234  0.09807029] yaw=169.7deg	[env.py: 1019]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76707691  0.45150478  0.09807029] yaw=187.2deg	[env.py: 1019]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.2ms	[env.py: 1075]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.540, 0.098)	[env.py: 1079]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg	[env.py: 1082]
-05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:22:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:22:09 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:22:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:22:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:22:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:22:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:22:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 89.751[deg]	[grasp_sample.py: 539]
-05/10 23:22:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:22:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:22:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:22:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:22:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:22:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:23:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:23:27 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:23:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:23:32 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:23:50 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:23:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:23:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:23:57 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:23:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:23:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:24:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:24:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:24:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.14s (batch: 5.23s, save: 8.91s)	[pipeline.py: 300]
-05/10 23:24:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.73s:
-  episode_total: mean=191.54s, total=191.54s, count=1, min=191542.3ms, max=191542.3ms
-  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=406.2ms, max=995.2ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.9ms, max=8912.9ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.7ms, max=62.0ms
-  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5230.0ms, max=5230.0ms
-  task_sampling: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
-  task_specific_sample: mean=727.1ms, total=727.1ms, count=1, min=727.1ms, max=727.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=563.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:24:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:24:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:24:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:24:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:24:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:24:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:24:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025803m	[env.py: 870]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:24:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64961975  0.71305545  0.02580289] yaw=-163.8deg	[env.py: 1019]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67124166  0.53856956  0.02580289] yaw=-174.4deg	[env.py: 1019]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90592595  0.99345116  0.02580289] yaw=-149.8deg	[env.py: 1019]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:24:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms	[env.py: 1075]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.713, 0.026)	[env.py: 1079]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
-05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:24:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:24:07 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:24:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:24:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:24:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:24:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:24:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:24:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 92.096[deg]	[grasp_sample.py: 539]
-05/10 23:24:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:24:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:24:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:24:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:24:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.29s (batch: 4.24s, save: 8.06s)	[pipeline.py: 300]
-05/10 23:24:10 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
-  episode_total: mean=191.38s, total=191.38s, count=1, min=191378.0ms, max=191378.0ms
-  sensor_polling: mean=470.8ms, total=141.25s, count=300, min=410.7ms, max=864.4ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8057.8ms, max=8057.8ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=51.8ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
-  task_sampling: mean=531.9ms, total=531.9ms, count=1, min=531.9ms, max=531.9ms
-  task_specific_sample: mean=528.4ms, total=528.4ms, count=1, min=528.4ms, max=528.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:24:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:24:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:24:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:24:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:24:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060582m	[env.py: 870]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05135322  0.96133591  0.06058206] yaw=-151.0deg	[env.py: 1019]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms	[env.py: 1075]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.961, 0.061)	[env.py: 1079]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg	[env.py: 1082]
-05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:24:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:24:12 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:24:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:24:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 87.767[deg]	[grasp_sample.py: 539]
-05/10 23:24:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:24:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:24:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:24:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:24:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:24:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:25:05 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:25:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:25:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:25:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:25:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:25:14 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:25:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:25:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:25:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:25:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:25:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.33s (batch: 4.35s, save: 8.99s)	[pipeline.py: 300]
-05/10 23:25:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=195.24s, total=195.24s, count=1, min=195236.2ms, max=195236.2ms
-  sensor_polling: mean=483.8ms, total=145.13s, count=300, min=404.4ms, max=942.8ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8987.3ms, max=8987.3ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.3ms, max=94.0ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.9ms, max=4346.9ms
-  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
-  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:25:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:25:21 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:25:21 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:25:21 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/10 23:25:21 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5179.67s
-  House averages:
-  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
-  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
-  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
-  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
-  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
-  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
-  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.0us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 23:25:21 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 23:25:21 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5179.67s
-  Worker averages:
-  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
-  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
-  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
-  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
-  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
-  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
-  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.0us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 23:25:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 23:25:23 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/10 23:25:23 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 23:25:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:25:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:25:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.73s (batch: 4.12s, save: 8.61s)	[pipeline.py: 300]
-05/10 23:25:27 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
-  episode_total: mean=98.94s, total=296.82s, count=3, min=3046.0ms, max=198251.2ms
-  sensor_polling: mean=480.3ms, total=219.51s, count=457, min=402.1ms, max=1083.7ms
-  physics_step: mean=22.9ms, total=10.48s, count=457, min=13.6ms, max=99.8ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8612.8ms, max=8612.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.8ms, max=4119.8ms
-  task_sampling: mean=398.0ms, total=1.19s, count=3, min=365.6ms, max=426.5ms
-  task_specific_sample: mean=394.9ms, total=1.18s, count=3, min=362.4ms, max=422.9ms
-  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=446.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:25:29 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/10 23:25:29 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5190.12s
-  House averages:
-  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
-  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
-  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
-  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
-  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
-  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 23:25:29 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 23:25:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5190.12s
-  Worker averages:
-  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
-  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
-  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
-  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
-  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
-  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 23:25:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:25:31 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 23:25:31 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/10 23:25:31 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 23:25:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:26:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:27:01 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:27:17 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:27:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:27:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:27:27 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:27:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:27:27 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 23:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:27:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:27:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.36s (batch: 4.17s, save: 8.20s)	[pipeline.py: 300]
-05/10 23:27:30 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
-  episode_total: mean=203.64s, total=203.64s, count=1, min=203643.6ms, max=203643.6ms
-  sensor_polling: mean=506.1ms, total=151.83s, count=300, min=421.0ms, max=797.5ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8196.1ms, max=8196.1ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=73.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.9ms, max=4165.9ms
-  task_sampling: mean=387.3ms, total=387.3ms, count=1, min=387.3ms, max=387.3ms
-  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=530.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:27:32 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:27:32 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:27:32 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes	[pipeline.py: 1323]
-05/10 23:27:32 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5380.86s
-  House averages:
-  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
-  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
-  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
-  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
-  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
-  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
-  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=474.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 23:27:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 23:27:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5380.86s
-  Worker averages:
-  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
-  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
-  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
-  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
-  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
-  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
-  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=474.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 23:27:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 23:27:34 INFO: Success count: 15, Total count: 15	[pipeline.py: 1491]
-05/10 23:27:34 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/10 23:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:27:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:27:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.38s (batch: 3.96s, save: 9.42s)	[pipeline.py: 300]
-05/10 23:27:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=209.29s, total=209.29s, count=1, min=209286.3ms, max=209286.3ms
-  sensor_polling: mean=503.8ms, total=150.64s, count=299, min=409.7ms, max=1106.0ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.0ms, max=9421.0ms
-  physics_step: mean=24.4ms, total=7.29s, count=299, min=14.3ms, max=95.4ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.0ms, max=3960.0ms
-  task_sampling: mean=420.9ms, total=420.9ms, count=1, min=420.9ms, max=420.9ms
-  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=555.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:27:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:27:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079408m	[env.py: 870]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66580879  0.69928241  0.07940835] yaw=-159.2deg	[env.py: 1019]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0228633   0.87934228  0.07940835] yaw=-150.7deg	[env.py: 1019]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7741667   0.03092141  0.07940835] yaw=154.0deg	[env.py: 1019]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.699, 0.079)	[env.py: 1079]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
-05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:27:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:27:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:27:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:27:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:27:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.886s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:27:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 93.241[deg]	[grasp_sample.py: 539]
-05/10 23:27:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:27:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:27:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:28:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:29:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:30:14 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:30:37 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
-05/10 23:30:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:30:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:30:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
-05/10 23:30:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.85s (batch: 4.91s, save: 8.94s)	[pipeline.py: 300]
-05/10 23:30:52 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=188.47s, total=188.47s, count=1, min=188466.9ms, max=188466.9ms
-  sensor_polling: mean=463.0ms, total=138.91s, count=300, min=399.4ms, max=758.3ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.2ms, max=76.6ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4914.4ms, max=4914.4ms
-  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
-  task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=521.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:30:53 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:30:53 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
-05/10 23:30:53 INFO: [Worker 0] Worker 0 completed house 1: 16/16 successful episodes	[pipeline.py: 1323]
-05/10 23:30:53 INFO: [Worker 0] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=5754.47s
-  House averages:
-  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
-  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
-  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
-  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
-  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
-  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
-  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/10 23:30:53 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/10 23:30:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5754.47s
-  Worker averages:
-  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
-  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
-  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
-  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
-  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
-  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
-  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/10 23:30:55 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/10 23:30:55 INFO: Success count: 16, Total count: 16	[pipeline.py: 1491]
-05/10 23:30:55 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_010/shard_1_of_4.log b/fridge_7/chunk_010/shard_1_of_4.log
deleted file mode 100644
index 4eb64ea3b32cbb8fe26fa0b1cba3d202389129ee..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_010/shard_1_of_4.log
+++ /dev/null
@@ -1,1703 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010
-  shard=1/4  seed=21001  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 22:37:52 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7666ed3aedd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21001,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130184437295312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130184437295312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130184437295312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130184437295312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130184435665680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130184435665680 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130184435676624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130184435676624 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130184435676624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130184435676624 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130184435665680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130184435665680 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130184437317840 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130184437317840 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130184437322832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130184437322832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130184437322832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130184437322832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130184437317840 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130184437317840 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5b3a909cf2a0 at 0x7666ed8ea090>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b3a909d0dd0 at 0x7666ed8f5190>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b3a909d0dd0 at 0x7666ed87c6d0>
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077916m
-[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91576263  0.98844995  0.07791641] yaw=-153.1deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01438864  0.80529802  0.07791641] yaw=-155.5deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.14159589  0.98161027  0.07791641] yaw=-141.3deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:37:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:37:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=19.2ms, retries=296.3ms, total=315.5ms
-[05/10 22:37:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.988, 0.078)
-[05/10 22:37:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:37:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.122s
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.454s, found feasible grasp: True
-[05/10 22:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.480[deg]
-[05/10 22:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:39:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:40:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 22:41:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:41:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:41:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:41:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 22:41:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:41:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.13s, save: 11.49s)
-[05/10 22:41:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.60s:
-  episode_total: mean=210.29s, total=210.29s, count=1, min=210287.0ms, max=210287.0ms
-  sensor_polling: mean=445.8ms, total=133.73s, count=300, min=389.7ms, max=620.7ms
-  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11488.3ms, max=11488.3ms
-  physics_step: mean=20.4ms, total=6.12s, count=300, min=14.6ms, max=42.8ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4125.1ms, max=4125.1ms
-  task_sampling: mean=3.60s, total=3.60s, count=1, min=3601.2ms, max=3601.2ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  task_specific_sample: mean=590.0ms, total=590.0ms, count=1, min=590.0ms, max=590.0ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:41:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:41:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:41:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/10 22:41:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:41:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:41:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082675m
-[05/10 22:41:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:41:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:41:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03131307  1.32258643  0.0826748 ] yaw=-130.2deg
-[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219337  0.51121627  0.0826748 ] yaw=-169.6deg
-[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:41:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84717076  0.06256661  0.0826748 ] yaw=162.7deg
-[05/10 22:41:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:41:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:41:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.5ms, total=107.5ms
-[05/10 22:41:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 1.323, 0.083)
-[05/10 22:41:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg
-[05/10 22:41:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:41:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 22:41:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:41:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:41:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 22:41:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.462s, found feasible grasp: False
-[05/10 22:41:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 22:41:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:41:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:41:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/10 22:41:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:41:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:41:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053487m
-[05/10 22:41:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:41:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:41:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99662649  1.29881911  0.05348663] yaw=-127.7deg
-[05/10 22:41:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:41:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:41:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms
-[05/10 22:41:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.299, 0.053)
-[05/10 22:41:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg
-[05/10 22:41:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:41:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 22:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/10 22:41:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:41:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:41:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:41:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: False
-[05/10 22:41:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 22:41:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:41:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:41:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 22:41:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:41:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:41:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034665m
-[05/10 22:41:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:41:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:41:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00444517  1.09810385  0.03466466] yaw=-136.6deg
-[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69702867  0.40498994  0.03466466] yaw=167.6deg
-[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:41:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96258832  0.89332976  0.03466466] yaw=-141.3deg
-[05/10 22:41:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:41:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:41:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms
-[05/10 22:41:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.098, 0.035)
-[05/10 22:41:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg
-[05/10 22:41:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:41:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 22:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/10 22:41:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:41:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:41:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:41:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.112s, found feasible grasp: True
-[05/10 22:41:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 93.987[deg]
-[05/10 22:41:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:42:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:43:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:43:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:44:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:44:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:44:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:44:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:44:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
-[05/10 22:44:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.480s, found feasible grasp: True
-[05/10 22:44:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.102[m] 4.205[deg]
-[05/10 22:44:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:44:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:44:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:44:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:44:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:44:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:44:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:44:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:44:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:44:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.96s (batch: 3.89s, save: 8.07s)
-[05/10 22:44:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.07s:
-  episode_total: mean=67.18s, total=201.55s, count=3, min=1904.3ms, max=197672.3ms
-  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=397.3ms, max=787.0ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8067.5ms, max=8067.5ms
-  physics_step: mean=20.6ms, total=6.19s, count=300, min=13.8ms, max=37.5ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.9ms, max=3894.9ms
-  task_sampling: mean=356.4ms, total=1.07s, count=3, min=329.9ms, max=373.6ms
-  task_specific_sample: mean=353.1ms, total=1.06s, count=3, min=327.2ms, max=370.4ms
-  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=532.0us, total=1.6ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 22:44:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:44:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:44:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:44:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 22:44:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:44:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:44:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011745m
-[05/10 22:44:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:44:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:44:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95274897  0.65035203  0.01174507] yaw=-166.4deg
-[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7719951   0.50098328  0.01174507] yaw=-176.0deg
-[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:44:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94010605  0.71200432  0.01174507] yaw=-159.4deg
-[05/10 22:44:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:44:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:44:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms
-[05/10 22:44:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.650, 0.012)
-[05/10 22:44:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg
-[05/10 22:44:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:44:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:44:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:44:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 22:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
-[05/10 22:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps
-[05/10 22:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True
-[05/10 22:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.364[m] 96.025[deg]
-[05/10 22:44:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:45:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:47:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:47:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:47:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:47:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
-[05/10 22:47:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:47:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:47:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.91s (batch: 3.85s, save: 8.06s)
-[05/10 22:47:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
-  episode_total: mean=183.46s, total=183.46s, count=1, min=183457.6ms, max=183457.6ms
-  sensor_polling: mean=454.1ms, total=134.42s, count=296, min=402.9ms, max=798.1ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8060.7ms, max=8060.7ms
-  physics_step: mean=20.6ms, total=6.11s, count=296, min=16.9ms, max=50.9ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.4ms, max=3849.4ms
-  task_sampling: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms
-  task_specific_sample: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=464.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:47:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:47:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:47:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:47:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/10 22:47:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:47:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:47:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064826m
-[05/10 22:47:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:47:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:47:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77909908  0.36449058  0.06482625] yaw=169.0deg
-[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00905642  0.84973933  0.06482625] yaw=-150.6deg
-[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17034042  1.06685253  0.06482625] yaw=-143.2deg
-[05/10 22:47:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:47:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:47:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms
-[05/10 22:47:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.364, 0.065)
-[05/10 22:47:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg
-[05/10 22:47:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:47:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:47:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 22:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 22:47:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:47:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:47:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 22:47:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True
-[05/10 22:47:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.476[m] 88.074[deg]
-[05/10 22:47:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:48:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:50:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:50:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:50:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:50:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:51:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:51:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:51:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 4.15s, save: 8.97s)
-[05/10 22:51:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.37s:
-  episode_total: mean=189.11s, total=189.11s, count=1, min=189108.5ms, max=189108.5ms
-  sensor_polling: mean=454.9ms, total=136.48s, count=300, min=391.7ms, max=707.5ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8969.2ms, max=8969.2ms
-  physics_step: mean=22.8ms, total=6.84s, count=300, min=15.7ms, max=74.1ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
-  task_sampling: mean=371.2ms, total=371.2ms, count=1, min=371.2ms, max=371.2ms
-  task_specific_sample: mean=366.8ms, total=366.8ms, count=1, min=366.8ms, max=366.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=566.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:51:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:51:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:51:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 22:51:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:51:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:51:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063214m
-[05/10 22:51:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:51:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:51:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78178268  0.16125427  0.06321395] yaw=171.3deg
-[05/10 22:51:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98684736  1.11021565  0.06321395] yaw=-148.9deg
-[05/10 22:51:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:51:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:51:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.2ms, total=271.3ms
-[05/10 22:51:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.161, 0.063)
-[05/10 22:51:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg
-[05/10 22:51:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:51:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 22:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 22:51:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:51:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:51:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 22:51:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True
-[05/10 22:51:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.554[m] 93.872[deg]
-[05/10 22:51:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:51:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:52:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:52:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:53:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:53:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:53:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:53:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:53:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:53:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:53:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:53:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/10 22:53:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True
-[05/10 22:53:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.706[deg]
-[05/10 22:53:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:53:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:53:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:53:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:54:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:54:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:54:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:54:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.85s (batch: 3.91s, save: 7.94s)
-[05/10 22:54:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s:
-  episode_total: mean=205.42s, total=205.42s, count=1, min=205423.5ms, max=205423.5ms
-  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=395.2ms, max=616.5ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7938.5ms, max=7938.5ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=11.9ms, max=56.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.6ms, max=3911.6ms
-  task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms
-  task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=611.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:54:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:54:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:54:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/10 22:54:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:54:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:54:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098529m
-[05/10 22:54:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:54:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:54:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.68605572  0.29087067  0.09852885] yaw=168.9deg
-[05/10 22:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:54:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:54:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=254.0ms
-[05/10 22:54:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.291, 0.099)
-[05/10 22:54:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg
-[05/10 22:54:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:54:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 22:54:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:54:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:54:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:54:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 22:54:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 89.226[deg]
-[05/10 22:54:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:55:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:56:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:56:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:56:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
-[05/10 22:56:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.347s, found feasible grasp: True
-[05/10 22:56:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.486[deg]
-[05/10 22:56:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:57:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 22:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:57:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:57:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:57:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.51s (batch: 3.87s, save: 7.65s)
-[05/10 22:57:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.54s:
-  episode_total: mean=181.83s, total=181.83s, count=1, min=181832.3ms, max=181832.3ms
-  sensor_polling: mean=431.8ms, total=129.55s, count=300, min=402.2ms, max=691.5ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.3ms, max=7647.3ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=13.0ms, max=31.6ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.4ms, max=3867.4ms
-  task_sampling: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms
-  task_specific_sample: mean=540.0ms, total=540.0ms, count=1, min=540.0ms, max=540.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:57:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:57:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:57:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/10 22:57:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:57:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:57:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031969m
-[05/10 22:57:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:57:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:57:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94646738  0.93728447  0.03196917] yaw=-143.5deg
-[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73740599  0.6648713   0.03196917] yaw=-158.9deg
-[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79786781  0.09643132  0.03196917] yaw=157.8deg
-[05/10 22:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms
-[05/10 22:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.937, 0.032)
-[05/10 22:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg
-[05/10 22:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:57:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 22:57:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:57:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:57:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:57:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True
-[05/10 22:57:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.505[deg]
-[05/10 22:57:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:58:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:59:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:00:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:00:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:00:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:00:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:00:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:00:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.90s (batch: 3.97s, save: 7.93s)
-[05/10 23:00:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
-  episode_total: mean=170.03s, total=170.03s, count=1, min=170026.7ms, max=170026.7ms
-  sensor_polling: mean=428.8ms, total=128.65s, count=300, min=394.0ms, max=681.8ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.6ms, max=7930.6ms
-  physics_step: mean=19.0ms, total=5.71s, count=300, min=15.1ms, max=30.9ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.2ms, max=3970.2ms
-  task_sampling: mean=423.6ms, total=423.6ms, count=1, min=423.6ms, max=423.6ms
-  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=376.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:00:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:00:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:00:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:00:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 23:00:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:00:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:00:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037259m
-[05/10 23:00:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:00:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:00:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60765392  0.5839169   0.03725937] yaw=-166.3deg
-[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86674506  0.28956572  0.03725937] yaw=174.7deg
-[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:00:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:00:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68016772  0.77103289  0.03725937] yaw=-163.1deg
-[05/10 23:00:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:00:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:00:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms
-[05/10 23:00:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.608, 0.584, 0.037)
-[05/10 23:00:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg
-[05/10 23:00:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:00:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:00:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:00:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:00:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 23:00:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:00:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:00:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:00:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.388s, found feasible grasp: True
-[05/10 23:00:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.691[m] 90.178[deg]
-[05/10 23:00:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:01:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:01:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:01:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:01:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True
-[05/10 23:01:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.063[m] 3.251[deg]
-[05/10 23:01:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:01:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:01:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:01:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:01:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 23:01:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:01:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:01:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009940m
-[05/10 23:01:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:01:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:01:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:01:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:01:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74941392  0.23961989  0.0099402 ] yaw=160.8deg
-[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87399664  1.02069893  0.0099402 ] yaw=-158.3deg
-[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:01:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76937964  0.90218196  0.0099402 ] yaw=-145.9deg
-[05/10 23:01:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:01:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:01:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms
-[05/10 23:01:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.240, 0.010)
-[05/10 23:01:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg
-[05/10 23:01:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:01:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:01:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:01:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:01:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 23:01:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:01:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:01:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:01:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True
-[05/10 23:01:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.082[deg]
-[05/10 23:01:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:02:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:04:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:04:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:04:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:04:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:05:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:05:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:05:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.70s (batch: 3.84s, save: 8.86s)
-[05/10 23:05:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.86s:
-  episode_total: mean=136.13s, total=272.26s, count=2, min=84330.6ms, max=187932.9ms
-  sensor_polling: mean=454.1ms, total=199.80s, count=440, min=392.1ms, max=805.8ms
-  physics_step: mean=22.1ms, total=9.72s, count=440, min=14.2ms, max=69.3ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.3ms, max=8857.3ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.3ms, max=3841.3ms
-  task_sampling: mean=428.6ms, total=857.2ms, count=2, min=380.1ms, max=477.1ms
-  task_specific_sample: mean=425.4ms, total=850.7ms, count=2, min=376.7ms, max=474.0ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms
-  mj_forward_sync: mean=390.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 23:05:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:05:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:05:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:05:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/10 23:05:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:05:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:05:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023719m
-[05/10 23:05:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:05:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:05:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74614313  0.2605178   0.02371915] yaw=176.3deg
-[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93320469  0.54686341  0.02371915] yaw=-172.9deg
-[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:05:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8000502   0.36590814  0.02371915] yaw=166.1deg
-[05/10 23:05:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:05:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:05:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=550.3ms, total=550.3ms
-[05/10 23:05:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.261, 0.024)
-[05/10 23:05:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg
-[05/10 23:05:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:05:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:05:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 23:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
-[05/10 23:05:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:05:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True
-[05/10 23:05:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 90.433[deg]
-[05/10 23:05:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:07:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:08:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:08:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:08:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:08:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:08:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:08:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.19s (batch: 4.02s, save: 9.17s)
-[05/10 23:08:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.86s:
-  episode_total: mean=191.45s, total=191.45s, count=1, min=191448.9ms, max=191448.9ms
-  sensor_polling: mean=465.8ms, total=139.73s, count=300, min=389.7ms, max=906.0ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9172.0ms, max=9172.0ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=16.9ms, max=47.2ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.1ms, max=4018.1ms
-  task_sampling: mean=861.0ms, total=861.0ms, count=1, min=861.0ms, max=861.0ms
-  task_specific_sample: mean=856.7ms, total=856.7ms, count=1, min=856.7ms, max=856.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=529.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:08:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:08:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:08:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
-[05/10 23:08:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:08:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:08:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099842m
-[05/10 23:08:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:08:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:08:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81496537  0.71384348  0.09984246] yaw=-172.7deg
-[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8914515   0.87005433  0.09984246] yaw=-146.4deg
-[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03283366  1.31754054  0.09984246] yaw=-120.0deg
-[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:08:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:08:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms
-[05/10 23:08:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.714, 0.100)
-[05/10 23:08:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg
-[05/10 23:08:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:08:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:08:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:08:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 23:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
-[05/10 23:08:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:08:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:08:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 23:08:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True
-[05/10 23:08:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 80.364[deg]
-[05/10 23:08:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:09:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:10:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:11:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:11:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:11:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:11:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:11:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:11:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.31s (batch: 3.99s, save: 8.32s)
-[05/10 23:11:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
-  episode_total: mean=183.75s, total=183.75s, count=1, min=183745.0ms, max=183745.0ms
-  sensor_polling: mean=445.5ms, total=133.65s, count=300, min=383.4ms, max=802.9ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.6ms, max=8316.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.4ms, max=63.8ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.7ms, max=3990.7ms
-  task_sampling: mean=583.2ms, total=583.2ms, count=1, min=583.2ms, max=583.2ms
-  task_specific_sample: mean=579.3ms, total=579.3ms, count=1, min=579.3ms, max=579.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:11:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:11:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 23:11:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:11:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:11:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034532m
-[05/10 23:11:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:11:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:11:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90041088  0.87476668  0.03453159] yaw=-147.9deg
-[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9944639   0.91848741  0.03453159] yaw=-143.3deg
-[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87122593  0.50159659  0.03453159] yaw=-183.1deg
-[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:11:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:11:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.1ms
-[05/10 23:11:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.875, 0.035)
-[05/10 23:11:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg
-[05/10 23:11:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:11:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 23:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 23:11:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:11:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:11:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 23:11:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True
-[05/10 23:11:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.721[deg]
-[05/10 23:11:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:12:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:12:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:14:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:14:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:14:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:14:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:14:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:14:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.87s, save: 8.12s)
-[05/10 23:14:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.56s:
-  episode_total: mean=184.89s, total=184.89s, count=1, min=184890.8ms, max=184890.8ms
-  sensor_polling: mean=454.0ms, total=136.19s, count=300, min=389.4ms, max=795.0ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.7ms, max=8118.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.9ms, max=61.7ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.6ms, max=3868.6ms
-  task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms
-  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:14:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:14:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 23:14:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:14:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:14:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055336m
-[05/10 23:14:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:14:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:14:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68897646  0.49298975  0.05533634] yaw=-174.4deg
-[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00333088  0.19104732  0.05533634] yaw=163.0deg
-[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92447315  0.65035494  0.05533634] yaw=-166.0deg
-[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:14:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:14:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms
-[05/10 23:14:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.493, 0.055)
-[05/10 23:14:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg
-[05/10 23:14:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:14:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 23:14:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 23:14:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:14:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:14:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 23:14:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
-[05/10 23:14:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.856[deg]
-[05/10 23:14:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:16:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:17:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:17:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.18s (batch: 4.06s, save: 8.12s)
-[05/10 23:17:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
-  episode_total: mean=184.29s, total=184.29s, count=1, min=184290.9ms, max=184290.9ms
-  sensor_polling: mean=452.6ms, total=135.77s, count=300, min=398.0ms, max=848.9ms
-  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8119.0ms, max=8119.0ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=14.1ms, max=49.5ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.3ms, max=4058.3ms
-  task_sampling: mean=541.6ms, total=541.6ms, count=1, min=541.6ms, max=541.6ms
-  task_specific_sample: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:17:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:17:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 23:17:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:17:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:17:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043583m
-[05/10 23:17:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:17:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:17:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77045905  0.53734807  0.04358324] yaw=-166.5deg
-[05/10 23:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11652541  1.14985314  0.04358324] yaw=-132.8deg
-[05/10 23:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:17:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms
-[05/10 23:17:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.537, 0.044)
-[05/10 23:17:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg
-[05/10 23:17:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
-[05/10 23:17:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:17:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 23:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/10 23:17:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:17:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:17:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:17:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True
-[05/10 23:17:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 85.668[deg]
-[05/10 23:17:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:19:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:19:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:19:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/10 23:19:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.390s, found feasible grasp: True
-[05/10 23:19:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.490[deg]
-[05/10 23:19:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:20:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:20:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:20:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:20:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:20:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.17s (batch: 4.05s, save: 10.12s)
-[05/10 23:20:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.44s:
-  episode_total: mean=197.26s, total=197.26s, count=1, min=197260.0ms, max=197260.0ms
-  sensor_polling: mean=456.7ms, total=137.02s, count=300, min=390.7ms, max=889.5ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10121.1ms, max=10121.1ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=16.9ms, max=48.2ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.1ms, max=4045.1ms
-  task_sampling: mean=441.2ms, total=441.2ms, count=1, min=441.2ms, max=441.2ms
-  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:20:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:20:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:20:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/10 23:20:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:20:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:20:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013231m
-[05/10 23:20:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:20:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:20:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70591604  0.82921257  0.01323072] yaw=-169.5deg
-[05/10 23:20:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:20:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6738052   0.13034528  0.01323072] yaw=153.3deg
-[05/10 23:20:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:20:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:20:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=457.6ms, total=457.6ms
-[05/10 23:20:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.829, 0.013)
-[05/10 23:20:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg
-[05/10 23:20:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/10 23:20:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:20:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 23:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 23:20:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:20:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:20:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:20:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.052s, found feasible grasp: True
-[05/10 23:20:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.637[m] 92.865[deg]
-[05/10 23:20:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:23:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:23:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:23:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:23:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:24:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:24:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:24:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.14s (batch: 5.23s, save: 8.91s)
-[05/10 23:24:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.73s:
-  episode_total: mean=191.54s, total=191.54s, count=1, min=191542.3ms, max=191542.3ms
-  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=406.2ms, max=995.2ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.9ms, max=8912.9ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.7ms, max=62.0ms
-  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5230.0ms, max=5230.0ms
-  task_sampling: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
-  task_specific_sample: mean=727.1ms, total=727.1ms, count=1, min=727.1ms, max=727.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=563.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:24:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:24:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:24:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/10 23:24:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:24:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:24:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025803m
-[05/10 23:24:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:24:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:24:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64961975  0.71305545  0.02580289] yaw=-163.8deg
-[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67124166  0.53856956  0.02580289] yaw=-174.4deg
-[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90592595  0.99345116  0.02580289] yaw=-149.8deg
-[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:24:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:24:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms
-[05/10 23:24:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.713, 0.026)
-[05/10 23:24:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
-[05/10 23:24:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:24:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:24:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:24:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 23:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 23:24:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:24:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:24:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 23:24:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.542s, found feasible grasp: True
-[05/10 23:24:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 92.096[deg]
-[05/10 23:24:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:25:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:26:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:27:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:27:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
-[05/10 23:27:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:27:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:27:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:27:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.36s (batch: 4.17s, save: 8.20s)
-[05/10 23:27:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
-  episode_total: mean=203.64s, total=203.64s, count=1, min=203643.6ms, max=203643.6ms
-  sensor_polling: mean=506.1ms, total=151.83s, count=300, min=421.0ms, max=797.5ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8196.1ms, max=8196.1ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=73.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.9ms, max=4165.9ms
-  task_sampling: mean=387.3ms, total=387.3ms, count=1, min=387.3ms, max=387.3ms
-  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=530.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:27:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:27:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:27:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 15/15 successful episodes
-[05/10 23:27:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5380.86s
-  House averages:
-  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
-  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
-  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
-  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
-  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
-  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
-  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=474.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:27:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 23:27:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5380.86s
-  Worker averages:
-  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
-  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
-  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
-  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
-  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
-  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
-  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
-  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
-  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
-  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
-  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
-  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
-  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  mj_forward_sync: mean=474.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:27:34 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 23:27:34 INFO pipeline.py:1491] Success count: 15, Total count: 15
-[05/10 23:27:34 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
-==========================================
diff --git a/fridge_7/chunk_010/shard_2_of_4.log b/fridge_7/chunk_010/shard_2_of_4.log
deleted file mode 100644
index 4d067dfa2e4d01b43932ebee7ac63f5c56e88c76..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_010/shard_2_of_4.log
+++ /dev/null
@@ -1,1744 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010
-  shard=2/4  seed=21002  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 22:37:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 22:37:51 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 22:37:51 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x769b562ebe90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21002,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130409536144976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130409536144976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130409536144976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130409536144976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130409540492304 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130409540492304 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130409540493072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130409540493072 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130409540493072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130409540493072 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130409540492304 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130409540492304 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130409536304528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130409536304528 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130409536302288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130409536302288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130409536302288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130409536302288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130409536304528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130409536304528 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c80cfe73920 at 0x769b5681ba50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c80cfe75300 at 0x769b5682b450>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c80cfe75300 at 0x769b569ade50>
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049169m
-[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91973279  0.90823225  0.04916875] yaw=-149.0deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04110699  0.98994084  0.04916875] yaw=-142.0deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95317579  0.71839542  0.04916875] yaw=-170.8deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:37:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:37:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.9ms, retries=124.9ms, total=136.7ms
-[05/10 22:37:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.908, 0.049)
-[05/10 22:37:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:37:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 22:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.704s
-[05/10 22:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 80.606[deg]
-[05/10 22:38:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:40:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 22:41:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:41:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:41:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:41:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 22:41:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:41:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.48s (batch: 3.95s, save: 11.53s)
-[05/10 22:41:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.81s:
-  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
-  sensor_polling: mean=447.1ms, total=134.13s, count=300, min=392.4ms, max=684.7ms
-  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11526.4ms, max=11526.4ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=16.5ms, max=51.5ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.0ms, max=3952.0ms
-  task_sampling: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=47.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:41:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:41:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:41:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/10 22:41:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:41:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:41:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069805m
-[05/10 22:41:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:41:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:41:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74322966  0.3503497   0.0698051 ] yaw=176.6deg
-[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91871736  1.06775905  0.0698051 ] yaw=-148.3deg
-[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:41:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7994066   0.63251105  0.0698051 ] yaw=-160.6deg
-[05/10 22:41:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:41:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:41:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms
-[05/10 22:41:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.350, 0.070)
-[05/10 22:41:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg
-[05/10 22:41:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:41:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:41:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 22:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/10 22:41:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:41:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:41:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 22:41:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True
-[05/10 22:41:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.170[deg]
-[05/10 22:41:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:42:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:42:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:43:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:44:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:44:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:44:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:44:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:44:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:44:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.11s (batch: 3.63s, save: 11.48s)
-[05/10 22:44:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.38s:
-  episode_total: mean=185.35s, total=185.35s, count=1, min=185352.6ms, max=185352.6ms
-  sensor_polling: mean=462.9ms, total=138.86s, count=300, min=403.9ms, max=719.3ms
-  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.1ms, max=11479.1ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.7ms, max=70.7ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3630.6ms, max=3630.6ms
-  task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
-  task_specific_sample: mean=372.7ms, total=372.7ms, count=1, min=372.7ms, max=372.7ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=380.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:44:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:44:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:44:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:44:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:44:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:44:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:44:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:44:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 22:44:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:44:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:44:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053927m
-[05/10 22:44:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:44:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:44:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84109265  0.7461015   0.05392742] yaw=-165.7deg
-[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72208242  0.715298    0.05392742] yaw=-164.1deg
-[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:44:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9192184   0.93208711  0.05392742] yaw=-145.9deg
-[05/10 22:44:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:44:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:44:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.8ms, total=125.8ms
-[05/10 22:44:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.746, 0.054)
-[05/10 22:44:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg
-[05/10 22:44:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m
-[05/10 22:44:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:44:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:44:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:44:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:44:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:44:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 22:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
-[05/10 22:44:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:44:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:44:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 22:44:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True
-[05/10 22:44:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 78.092[deg]
-[05/10 22:44:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:44:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:44:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:46:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:47:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:47:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:47:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:47:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:47:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:47:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.08s (batch: 3.79s, save: 9.29s)
-[05/10 22:47:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.57s, total=183.57s, count=1, min=183573.3ms, max=183573.3ms
-  sensor_polling: mean=452.1ms, total=135.63s, count=300, min=389.3ms, max=803.7ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9294.3ms, max=9294.3ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.5ms, max=46.0ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
-  task_sampling: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
-  task_specific_sample: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:47:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:47:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:47:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:47:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/10 22:47:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:47:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:47:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000316m
-[05/10 22:47:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:47:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:47:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-7.08560818e-01  9.27606655e-01  3.16318320e-04] yaw=-160.8deg
-[05/10 22:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.45774684e-01  1.64604241e-01  3.16318320e-04] yaw=162.6deg
-[05/10 22:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:47:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:47:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.1ms, total=378.1ms
-[05/10 22:47:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.928, 0.000)
-[05/10 22:47:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg
-[05/10 22:47:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:47:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:47:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 22:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.193s
-[05/10 22:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps
-[05/10 22:47:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.056s, found feasible grasp: True
-[05/10 22:47:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.685[m] 91.623[deg]
-[05/10 22:47:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:48:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:50:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:50:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:50:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:50:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:50:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:50:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:50:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.69s (batch: 4.41s, save: 10.28s)
-[05/10 22:50:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
-  episode_total: mean=185.62s, total=185.62s, count=1, min=185620.2ms, max=185620.2ms
-  sensor_polling: mean=450.2ms, total=135.06s, count=300, min=380.9ms, max=737.1ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10282.3ms, max=10282.3ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=16.5ms, max=50.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4410.1ms, max=4410.1ms
-  task_sampling: mean=719.5ms, total=719.5ms, count=1, min=719.5ms, max=719.5ms
-  task_specific_sample: mean=715.5ms, total=715.5ms, count=1, min=715.5ms, max=715.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=28.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:50:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:50:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:50:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:50:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/10 22:50:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:50:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:50:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076326m
-[05/10 22:50:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:50:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:50:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:50:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:50:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85500155  0.81926386  0.07632642] yaw=-153.6deg
-[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74657561 -0.00077965  0.07632642] yaw=148.7deg
-[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:50:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81050812  0.21720884  0.07632642] yaw=164.7deg
-[05/10 22:50:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:50:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:50:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms
-[05/10 22:50:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.819, 0.076)
-[05/10 22:50:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg
-[05/10 22:50:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:50:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:50:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:50:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 22:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 22:50:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:50:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:50:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 22:50:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True
-[05/10 22:50:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.506[m] 97.464[deg]
-[05/10 22:50:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:51:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:53:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:53:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:53:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:53:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:53:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:53:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:53:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.05s (batch: 4.29s, save: 9.76s)
-[05/10 22:53:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.76s, total=181.76s, count=1, min=181764.5ms, max=181764.5ms
-  sensor_polling: mean=450.8ms, total=135.25s, count=300, min=373.8ms, max=662.3ms
-  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.9ms, max=9763.9ms
-  physics_step: mean=20.6ms, total=6.18s, count=300, min=13.5ms, max=41.4ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.9ms, max=4287.9ms
-  task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
-  task_specific_sample: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=619.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=30.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:53:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:53:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:53:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:53:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 22:53:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:53:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:53:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042417m
-[05/10 22:53:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:53:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:53:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82315677  0.05033498  0.04241678] yaw=150.5deg
-[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:53:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84923007  0.39191628  0.04241678] yaw=184.9deg
-[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:53:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00853221  0.17194942  0.04241678] yaw=159.3deg
-[05/10 22:53:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:53:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:53:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms
-[05/10 22:53:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.050, 0.042)
-[05/10 22:53:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg
-[05/10 22:53:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:53:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:53:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 22:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 22:53:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:53:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:53:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:53:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.455s, found feasible grasp: True
-[05/10 22:53:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.545[m] 85.455[deg]
-[05/10 22:53:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:53:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:56:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:56:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:56:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:56:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:56:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:56:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:56:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.41s (batch: 3.74s, save: 7.67s)
-[05/10 22:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=172.63s, total=172.63s, count=1, min=172633.2ms, max=172633.2ms
-  sensor_polling: mean=435.3ms, total=130.59s, count=300, min=384.6ms, max=680.9ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7671.2ms, max=7671.2ms
-  physics_step: mean=19.6ms, total=5.88s, count=300, min=13.5ms, max=29.6ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3739.2ms, max=3739.2ms
-  task_sampling: mean=407.8ms, total=407.8ms, count=1, min=407.8ms, max=407.8ms
-  task_specific_sample: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=556.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/10 22:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094944m
-[05/10 22:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79805251  0.63517966  0.09494403] yaw=-159.9deg
-[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90917446  0.64951736  0.09494403] yaw=-166.1deg
-[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80964404  0.92431605  0.09494403] yaw=-160.4deg
-[05/10 22:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.1ms, total=159.2ms
-[05/10 22:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.635, 0.095)
-[05/10 22:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
-[05/10 22:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:56:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:56:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 22:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 22:56:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:56:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:56:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:56:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True
-[05/10 22:56:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.464[m] 83.454[deg]
-[05/10 22:56:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:57:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:57:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:58:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:59:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 22:59:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:59:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:59:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.25s (batch: 3.76s, save: 7.49s)
-[05/10 22:59:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s:
-  episode_total: mean=167.25s, total=167.25s, count=1, min=167247.3ms, max=167247.3ms
-  sensor_polling: mean=423.2ms, total=126.95s, count=300, min=381.5ms, max=643.6ms
-  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7491.0ms, max=7491.0ms
-  physics_step: mean=18.8ms, total=5.65s, count=300, min=14.3ms, max=29.8ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.3ms, max=3757.3ms
-  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
-  task_specific_sample: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=645.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:59:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:59:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:59:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/10 22:59:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:59:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:59:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098000m
-[05/10 22:59:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:59:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:59:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90086644  0.55961285  0.09800003] yaw=-182.3deg
-[05/10 22:59:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:59:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87031715  0.45230665  0.09800003] yaw=175.5deg
-[05/10 22:59:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:59:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:59:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms
-[05/10 22:59:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.560, 0.098)
-[05/10 22:59:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg
-[05/10 22:59:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.805m
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:59:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 22:59:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:59:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:59:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:59:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.422s, found feasible grasp: True
-[05/10 22:59:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 95.129[deg]
-[05/10 22:59:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:00:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:00:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:00:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:01:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:02:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:02:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:02:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/10 23:02:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:02:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:02:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.30s (batch: 3.91s, save: 11.39s)
-[05/10 23:02:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s:
-  episode_total: mean=184.64s, total=184.64s, count=1, min=184644.4ms, max=184644.4ms
-  sensor_polling: mean=447.7ms, total=132.97s, count=297, min=387.6ms, max=762.8ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11385.6ms, max=11385.6ms
-  physics_step: mean=22.0ms, total=6.52s, count=297, min=14.1ms, max=45.1ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.5ms, max=3909.5ms
-  task_sampling: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms
-  task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:02:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:02:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:02:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:02:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:02:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:02:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:02:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:02:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 23:02:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:02:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:02:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054724m
-[05/10 23:02:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:02:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:02:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:02:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73037763  0.35979698  0.05472371] yaw=168.7deg
-[05/10 23:02:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:02:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95290688  0.422369    0.05472371] yaw=174.9deg
-[05/10 23:02:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:02:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:02:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0021448   0.95633316  0.05472371] yaw=-151.4deg
-[05/10 23:02:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:02:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:02:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms
-[05/10 23:02:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.360, 0.055)
-[05/10 23:02:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg
-[05/10 23:02:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.980m
-[05/10 23:02:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:02:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:02:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:02:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:02:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:02:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 23:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s
-[05/10 23:02:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:02:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:02:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 23:02:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.674s, found feasible grasp: True
-[05/10 23:02:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.528[m] 92.102[deg]
-[05/10 23:02:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:04:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:04:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:04:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:05:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:05:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps
-[05/10 23:05:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.860s, found feasible grasp: True
-[05/10 23:05:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.068[deg]
-[05/10 23:05:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 23:05:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps
-[05/10 23:05:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.702s, found feasible grasp: True
-[05/10 23:05:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.024[deg]
-[05/10 23:05:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10
-[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 23:05:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps
-[05/10 23:05:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True
-[05/10 23:05:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.000[deg]
-[05/10 23:05:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:05:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:05:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:05:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:05:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:05:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:06:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:06:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:06:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.08s (batch: 4.08s, save: 8.00s)
-[05/10 23:06:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
-  episode_total: mean=214.57s, total=214.57s, count=1, min=214571.8ms, max=214571.8ms
-  sensor_polling: mean=460.8ms, total=138.24s, count=300, min=395.0ms, max=664.9ms
-  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8005.0ms, max=8005.0ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.4ms, max=4075.4ms
-  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
-  task_specific_sample: mean=467.4ms, total=467.4ms, count=1, min=467.4ms, max=467.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=509.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:06:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:06:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:06:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 23:06:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:06:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:06:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019549m
-[05/10 23:06:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:06:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:06:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83056005  0.18051842  0.01954868] yaw=168.1deg
-[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02640509  1.21315674  0.01954868] yaw=-133.3deg
-[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72818197  0.297824    0.01954868] yaw=177.2deg
-[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:06:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:06:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.7ms, total=467.7ms
-[05/10 23:06:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.181, 0.020)
-[05/10 23:06:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg
-[05/10 23:06:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.922m
-[05/10 23:06:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:06:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:06:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
-[05/10 23:06:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:06:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:06:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 23:06:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.104s, found feasible grasp: True
-[05/10 23:06:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.494[m] 95.249[deg]
-[05/10 23:06:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:08:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:08:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:08:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps
-[05/10 23:08:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.422s, found feasible grasp: True
-[05/10 23:08:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.804[deg]
-[05/10 23:08:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:09:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:09:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:09:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:09:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:09:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:09:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:09:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.33s (batch: 4.44s, save: 7.89s)
-[05/10 23:09:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
-  episode_total: mean=204.76s, total=204.76s, count=1, min=204760.9ms, max=204760.9ms
-  sensor_polling: mean=461.5ms, total=138.46s, count=300, min=383.9ms, max=848.8ms
-  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7893.2ms, max=7893.2ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.6ms, max=58.5ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4437.4ms, max=4437.4ms
-  task_sampling: mean=736.4ms, total=736.4ms, count=1, min=736.4ms, max=736.4ms
-  task_specific_sample: mean=732.6ms, total=732.6ms, count=1, min=732.6ms, max=732.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:09:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:09:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/10 23:09:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:09:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:09:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025875m
-[05/10 23:09:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:09:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:09:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71695438  0.95145651  0.0258746 ] yaw=-157.4deg
-[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90460923  0.14255251  0.0258746 ] yaw=162.3deg
-[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843734  1.17592281  0.0258746 ] yaw=-125.2deg
-[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:09:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:09:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.4ms, total=112.4ms
-[05/10 23:09:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.951, 0.026)
-[05/10 23:09:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg
-[05/10 23:09:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.092m
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:09:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 23:09:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:09:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:09:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 23:09:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.473s, found feasible grasp: True
-[05/10 23:09:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 77.826[deg]
-[05/10 23:09:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:09:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:09:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/10 23:09:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:09:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:09:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080914m
-[05/10 23:09:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:09:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:09:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18629076  1.11918595  0.08091379] yaw=-126.8deg
-[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78691895  0.88938164  0.08091379] yaw=-155.0deg
-[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85983502  1.00820193  0.08091379] yaw=-147.5deg
-[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:09:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:09:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
-[05/10 23:09:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.186, 1.119, 0.081)
-[05/10 23:09:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg
-[05/10 23:09:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:09:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 23:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 23:09:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:09:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:09:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:09:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True
-[05/10 23:09:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 94.043[deg]
-[05/10 23:09:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:11:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:11:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:11:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:11:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:11:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:11:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps
-[05/10 23:11:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.498s, found feasible grasp: True
-[05/10 23:11:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]
-[05/10 23:11:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:11:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:11:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:11:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 23:11:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:11:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:11:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061715m
-[05/10 23:11:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:11:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:11:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:11:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02537089  1.14829214  0.06171526] yaw=-130.9deg
-[05/10 23:11:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:11:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65433755  0.46459842  0.06171526] yaw=178.6deg
-[05/10 23:11:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:11:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90105291  0.60888993  0.06171526] yaw=-179.6deg
-[05/10 23:11:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:11:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:11:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.6ms
-[05/10 23:11:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.148, 0.062)
-[05/10 23:11:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg
-[05/10 23:11:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
-[05/10 23:11:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:11:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 23:11:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
-[05/10 23:11:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:11:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:11:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 23:11:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.452s, found feasible grasp: True
-[05/10 23:11:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.509[m] 85.285[deg]
-[05/10 23:12:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:14:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:14:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:14:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
-[05/10 23:14:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.479s, found feasible grasp: False
-[05/10 23:14:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 23:14:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:14:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/10 23:14:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:14:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:14:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087780m
-[05/10 23:14:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:14:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:14:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63238644  0.59686233  0.08777963] yaw=-178.5deg
-[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72883175  0.35825008  0.08777963] yaw=179.2deg
-[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01216485  0.80105399  0.08777963] yaw=-147.8deg
-[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:14:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:14:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.8ms
-[05/10 23:14:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.597, 0.088)
-[05/10 23:14:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg
-[05/10 23:14:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:14:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 23:14:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 23:14:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:14:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:14:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 23:14:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True
-[05/10 23:14:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.590[m] 76.315[deg]
-[05/10 23:14:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:15:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:16:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:17:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:17:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:17:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:17:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.99s (batch: 4.89s, save: 8.10s)
-[05/10 23:17:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.73s:
-  episode_total: mean=115.06s, total=460.23s, count=4, min=2897.8ms, max=182178.1ms
-  sensor_polling: mean=445.7ms, total=363.66s, count=816, min=373.8ms, max=915.7ms
-  physics_step: mean=21.3ms, total=17.39s, count=816, min=13.7ms, max=66.4ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8098.4ms, max=8098.4ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4891.6ms, max=4891.6ms
-  task_sampling: mean=431.9ms, total=1.73s, count=4, min=358.0ms, max=565.0ms
-  task_specific_sample: mean=428.7ms, total=1.71s, count=4, min=355.2ms, max=561.0ms
-  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.1ms, max=2.4ms
-  mj_forward_sync: mean=416.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 23:17:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:17:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:17:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 23:17:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:17:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:17:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031035m
-[05/10 23:17:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:17:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:17:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83505234  0.93351166  0.03103468] yaw=-142.5deg
-[05/10 23:17:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85209926  1.16649094  0.03103468] yaw=-150.5deg
-[05/10 23:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75132531  0.59733863  0.03103468] yaw=-167.8deg
-[05/10 23:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:17:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:17:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms
-[05/10 23:17:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.934, 0.031)
-[05/10 23:17:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.5 deg
-[05/10 23:17:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
-[05/10 23:17:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:17:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 23:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/10 23:17:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:17:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:17:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 23:17:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
-[05/10 23:17:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 84.982[deg]
-[05/10 23:17:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:19:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:20:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:20:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:20:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:20:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.96s (batch: 4.67s, save: 9.29s)
-[05/10 23:20:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=181.25s, total=181.25s, count=1, min=181252.5ms, max=181252.5ms
-  sensor_polling: mean=447.3ms, total=134.18s, count=300, min=375.9ms, max=868.6ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.0ms, max=9289.0ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.6ms, max=54.6ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.2ms, max=4672.2ms
-  task_sampling: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
-  task_specific_sample: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:20:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:20:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 23:20:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:20:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:20:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011674m
-[05/10 23:20:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:20:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:20:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00662018  1.2495258   0.01167393] yaw=-141.9deg
-[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94610444  0.17929252  0.01167393] yaw=155.9deg
-[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80738794  0.69778829  0.01167393] yaw=-177.8deg
-[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:20:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:20:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.0ms, total=74.1ms
-[05/10 23:20:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.250, 0.012)
-[05/10 23:20:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg
-[05/10 23:20:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.036m
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:20:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 23:20:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 23:20:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:20:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:20:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 23:20:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True
-[05/10 23:20:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.609[m] 86.121[deg]
-[05/10 23:20:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:20:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:20:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/10 23:20:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:20:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:20:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087596m
-[05/10 23:20:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:20:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:20:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94001052  0.38712995  0.08759611] yaw=172.9deg
-[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83387378  0.53923879  0.08759611] yaw=-167.4deg
-[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74824286  0.37428297  0.08759611] yaw=165.5deg
-[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:20:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:20:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.2ms
-[05/10 23:20:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.387, 0.088)
-[05/10 23:20:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg
-[05/10 23:20:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:20:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 23:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 23:20:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:20:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:20:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:20:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True
-[05/10 23:20:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.304[m] 86.603[deg]
-[05/10 23:20:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:21:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:21:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:22:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:22:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:22:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
-[05/10 23:22:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.355s, found feasible grasp: True
-[05/10 23:22:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.291[deg]
-[05/10 23:22:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:22:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:22:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:22:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/10 23:22:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:22:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:22:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098070m
-[05/10 23:22:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:22:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:22:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63742084  0.54004988  0.09807029] yaw=-171.4deg
-[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9422317   0.24074234  0.09807029] yaw=169.7deg
-[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76707691  0.45150478  0.09807029] yaw=187.2deg
-[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:22:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:22:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.2ms
-[05/10 23:22:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.540, 0.098)
-[05/10 23:22:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg
-[05/10 23:22:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:22:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:22:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:22:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 23:22:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 23:22:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:22:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:22:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 23:22:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True
-[05/10 23:22:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.638[m] 89.751[deg]
-[05/10 23:22:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:23:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:24:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:25:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:25:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
-[05/10 23:25:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:25:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:25:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:25:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.73s (batch: 4.12s, save: 8.61s)
-[05/10 23:25:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
-  episode_total: mean=98.94s, total=296.82s, count=3, min=3046.0ms, max=198251.2ms
-  sensor_polling: mean=480.3ms, total=219.51s, count=457, min=402.1ms, max=1083.7ms
-  physics_step: mean=22.9ms, total=10.48s, count=457, min=13.6ms, max=99.8ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8612.8ms, max=8612.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.8ms, max=4119.8ms
-  task_sampling: mean=398.0ms, total=1.19s, count=3, min=365.6ms, max=426.5ms
-  task_specific_sample: mean=394.9ms, total=1.18s, count=3, min=362.4ms, max=422.9ms
-  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=446.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 23:25:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:25:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:25:29 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/10 23:25:29 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5190.12s
-  House averages:
-  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
-  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
-  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
-  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
-  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
-  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:25:29 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 23:25:29 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5190.12s
-  Worker averages:
-  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
-  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
-  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
-  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
-  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
-  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
-  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
-  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
-  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
-  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
-  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
-  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
-  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
-  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
-  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
-  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
-  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:25:31 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 23:25:31 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/10 23:25:31 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
-==========================================
diff --git a/fridge_7/chunk_010/shard_3_of_4.log b/fridge_7/chunk_010/shard_3_of_4.log
deleted file mode 100644
index c5c11b98c1994fb4ce5cfe28c423a55a3d83589c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_010/shard_3_of_4.log
+++ /dev/null
@@ -1,1714 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010
-  shard=3/4  seed=21003  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 22:37:52 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7aa81b656950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21003,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 134862432227216 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134862432227216 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 134862432227216 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134862432227216 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 134862434958288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134862434958288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134862434958672 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134862434958672 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134862434958672 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134862434958672 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134862434958288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134862434958288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134862431668112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134862431668112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134862431666832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134862431666832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 134862431666832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134862431666832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134862431668112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134862431668112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 22:37:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 611c5b0417b0 at 0x7aa81bde0250>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 611c5b0432a0 at 0x7aa81bdebcd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 611c5b0432a0 at 0x7aa81bd725d0>
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041316m
-[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89916566  0.20718235  0.04131566] yaw=158.5deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95350825  0.98716034  0.04131566] yaw=-150.8deg
-[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01424324  0.85897738  0.04131566] yaw=-153.3deg
-[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:37:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:37:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=37.5ms, retries=582.9ms, total=620.3ms
-[05/10 22:37:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.207, 0.041)
-[05/10 22:37:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg
-[05/10 22:37:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:37:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 22:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.911s
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
-[05/10 22:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.431[m] 100.270[deg]
-[05/10 22:38:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:39:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:40:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:40:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:40:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:40:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps
-[05/10 22:40:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True
-[05/10 22:40:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.799[deg]
-[05/10 22:40:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:40:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:40:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:41:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:41:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:41:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 22:41:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:41:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:41:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps
-[05/10 22:41:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.543s, found feasible grasp: True
-[05/10 22:41:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.247[deg]
-[05/10 22:41:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:41:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 22:41:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:41:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:41:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:42:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 22:42:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:42:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.94s, save: 8.06s)
-[05/10 22:42:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s:
-  episode_total: mean=256.26s, total=256.26s, count=1, min=256257.0ms, max=256257.0ms
-  sensor_polling: mean=446.0ms, total=133.81s, count=300, min=391.7ms, max=671.8ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.6ms, max=8055.6ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=12.4ms, max=39.1ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.2ms, max=3939.2ms
-  task_sampling: mean=3.56s, total=3.56s, count=1, min=3555.9ms, max=3555.9ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  task_specific_sample: mean=850.2ms, total=850.2ms, count=1, min=850.2ms, max=850.2ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:42:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:42:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:42:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:42:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/10 22:42:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:42:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:42:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062488m
-[05/10 22:42:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:42:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:42:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84912958  0.82217829  0.06248755] yaw=-158.4deg
-[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83685984  0.99070552  0.06248755] yaw=-143.6deg
-[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:42:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69935673  0.1111107   0.06248755] yaw=160.0deg
-[05/10 22:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:42:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:42:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms
-[05/10 22:42:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.822, 0.062)
-[05/10 22:42:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
-[05/10 22:42:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:42:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:42:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 22:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/10 22:42:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:42:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:42:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 22:42:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 22:42:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.501[m] 91.863[deg]
-[05/10 22:42:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:44:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:45:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:45:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:45:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:45:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:45:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:45:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.56s (batch: 3.89s, save: 7.67s)
-[05/10 22:45:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
-  episode_total: mean=185.40s, total=185.40s, count=1, min=185395.5ms, max=185395.5ms
-  sensor_polling: mean=465.7ms, total=139.72s, count=300, min=393.8ms, max=791.0ms
-  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7672.3ms, max=7672.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=14.7ms, max=56.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.5ms, max=3887.5ms
-  task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
-  task_specific_sample: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:45:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:45:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:45:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:45:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)
-[05/10 22:45:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:45:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:45:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080446m
-[05/10 22:45:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:45:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:45:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74332363  0.88131775  0.0804458 ] yaw=-163.3deg
-[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77955304  0.88389665  0.0804458 ] yaw=-166.1deg
-[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:45:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91861268  0.37051115  0.0804458 ] yaw=161.9deg
-[05/10 22:45:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:45:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:45:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms
-[05/10 22:45:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.881, 0.080)
-[05/10 22:45:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg
-[05/10 22:45:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.039m
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:45:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:45:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:45:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 22:45:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 22:45:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:45:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:45:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/10 22:45:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True
-[05/10 22:45:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.652[m] 92.845[deg]
-[05/10 22:45:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:47:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:48:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:48:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:48:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:48:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:48:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:48:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.06s (batch: 4.11s, save: 7.95s)
-[05/10 22:48:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s:
-  episode_total: mean=183.60s, total=183.60s, count=1, min=183599.9ms, max=183599.9ms
-  sensor_polling: mean=455.9ms, total=136.77s, count=300, min=393.8ms, max=963.5ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7950.8ms, max=7950.8ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=14.2ms, max=65.7ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.9ms, max=4112.9ms
-  task_sampling: mean=378.2ms, total=378.2ms, count=1, min=378.2ms, max=378.2ms
-  task_specific_sample: mean=374.8ms, total=374.8ms, count=1, min=374.8ms, max=374.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:48:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:48:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:48:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:48:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/10 22:48:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:48:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:48:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070918m
-[05/10 22:48:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:48:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:48:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05710602  0.89610096  0.07091844] yaw=-147.9deg
-[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13941578  1.03785513  0.07091844] yaw=-135.9deg
-[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88699984  0.40017386  0.07091844] yaw=170.7deg
-[05/10 22:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:48:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:48:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms
-[05/10 22:48:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.896, 0.071)
-[05/10 22:48:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg
-[05/10 22:48:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:48:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:48:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 22:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 22:48:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:48:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:48:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:48:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
-[05/10 22:48:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.630[deg]
-[05/10 22:48:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:50:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:51:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:51:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:51:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 22:51:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:51:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:51:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.13s (batch: 4.20s, save: 7.93s)
-[05/10 22:51:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
-  episode_total: mean=176.93s, total=176.93s, count=1, min=176932.7ms, max=176932.7ms
-  sensor_polling: mean=454.7ms, total=133.23s, count=293, min=388.2ms, max=659.3ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7926.3ms, max=7926.3ms
-  physics_step: mean=21.2ms, total=6.20s, count=293, min=13.9ms, max=59.0ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.9ms, max=4201.9ms
-  task_sampling: mean=341.3ms, total=341.3ms, count=1, min=341.3ms, max=341.3ms
-  task_specific_sample: mean=337.7ms, total=337.7ms, count=1, min=337.7ms, max=337.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=391.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:51:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:51:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:51:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/10 22:51:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:51:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:51:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m
-[05/10 22:51:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:51:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:51:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89576796  0.355235    0.02866437] yaw=168.6deg
-[05/10 22:51:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:51:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96220708  0.33619873  0.02866437] yaw=170.7deg
-[05/10 22:51:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:51:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:51:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms
-[05/10 22:51:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.355, 0.029)
-[05/10 22:51:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg
-[05/10 22:51:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.816m
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:51:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 22:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 22:51:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:51:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:51:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:51:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True
-[05/10 22:51:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.357[m] 88.693[deg]
-[05/10 22:51:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:51:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:52:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:53:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:54:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:54:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 22:54:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:54:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.82s (batch: 4.03s, save: 7.78s)
-[05/10 22:54:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=181.64s, total=181.64s, count=1, min=181642.4ms, max=181642.4ms
-  sensor_polling: mean=459.8ms, total=134.26s, count=292, min=394.5ms, max=689.1ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7784.9ms, max=7784.9ms
-  physics_step: mean=23.4ms, total=6.82s, count=292, min=14.0ms, max=44.2ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4032.5ms, max=4032.5ms
-  task_sampling: mean=462.3ms, total=462.3ms, count=1, min=462.3ms, max=462.3ms
-  task_specific_sample: mean=458.7ms, total=458.7ms, count=1, min=458.7ms, max=458.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:54:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:54:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 22:54:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:54:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:54:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047876m
-[05/10 22:54:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:54:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:54:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99269261  0.79604298  0.04787647] yaw=-167.5deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87403229  0.14618019  0.04787647] yaw=154.6deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8901033   0.81030715  0.04787647] yaw=-165.4deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:54:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:54:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms
-[05/10 22:54:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.796, 0.048)
-[05/10 22:54:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:54:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 22:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 22:54:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:54:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:54:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 22:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True
-[05/10 22:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.349[m] 88.841[deg]
-[05/10 22:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:55:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:56:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:56:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:56:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:56:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps
-[05/10 22:57:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:57:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:57:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.66s (batch: 4.03s, save: 7.63s)
-[05/10 22:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
-  episode_total: mean=165.09s, total=165.09s, count=1, min=165091.7ms, max=165091.7ms
-  sensor_polling: mean=431.8ms, total=125.22s, count=290, min=402.0ms, max=664.8ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7631.4ms, max=7631.4ms
-  physics_step: mean=19.2ms, total=5.58s, count=290, min=14.3ms, max=31.4ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms
-  task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
-  task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=544.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 22:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048441m
-[05/10 22:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04123618  0.86827455  0.04844126] yaw=-144.8deg
-[05/10 22:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82468738  0.84828346  0.04844126] yaw=-158.0deg
-[05/10 22:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.2ms
-[05/10 22:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.868, 0.048)
-[05/10 22:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg
-[05/10 22:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:57:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 22:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 22:57:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:57:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:57:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:57:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.442s, found feasible grasp: True
-[05/10 22:57:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.349[m] 91.708[deg]
-[05/10 22:57:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:57:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:59:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:59:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 22:59:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/10 22:59:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:59:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.79s (batch: 3.87s, save: 7.91s)
-[05/10 22:59:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
-  episode_total: mean=166.05s, total=166.05s, count=1, min=166046.2ms, max=166046.2ms
-  sensor_polling: mean=432.1ms, total=126.19s, count=292, min=401.5ms, max=622.5ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7914.6ms, max=7914.6ms
-  physics_step: mean=19.4ms, total=5.67s, count=292, min=14.5ms, max=28.9ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms
-  task_sampling: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms
-  task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:59:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:59:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:59:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/10 22:59:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:59:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:59:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040458m
-[05/10 22:59:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:59:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:59:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:59:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8882694   1.00585347  0.04045805] yaw=-146.6deg
-[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:59:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82050444  0.094689    0.04045805] yaw=161.9deg
-[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:59:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80412892  0.29941775  0.04045805] yaw=157.9deg
-[05/10 22:59:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:59:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:59:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.3ms
-[05/10 22:59:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 1.006, 0.040)
-[05/10 22:59:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg
-[05/10 22:59:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:59:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 22:59:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:59:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:59:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 23:00:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.447s, found feasible grasp: True
-[05/10 23:00:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.560[m] 89.669[deg]
-[05/10 23:00:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:00:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:02:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:02:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:02:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:02:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.41s (batch: 4.19s, save: 11.22s)
-[05/10 23:03:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.35s:
-  episode_total: mean=189.37s, total=189.37s, count=1, min=189372.7ms, max=189372.7ms
-  sensor_polling: mean=460.7ms, total=138.21s, count=300, min=395.9ms, max=828.5ms
-  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11224.6ms, max=11224.6ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=15.4ms, max=55.7ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.1ms, max=4190.1ms
-  task_sampling: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms
-  task_specific_sample: mean=342.0ms, total=342.0ms, count=1, min=342.0ms, max=342.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=409.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/10 23:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090694m
-[05/10 23:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67243839  0.85116641  0.0906941 ] yaw=-158.7deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88144848  0.58480047  0.0906941 ] yaw=-166.4deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99806534  0.98653303  0.0906941 ] yaw=-152.0deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.1ms
-[05/10 23:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.851, 0.091)
-[05/10 23:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.094m
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 23:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/10 23:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 23:03:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True
-[05/10 23:03:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.699[m] 89.345[deg]
-[05/10 23:03:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:05:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:06:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:06:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:06:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:06:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:06:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:06:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.62s (batch: 3.87s, save: 9.75s)
-[05/10 23:06:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=188.63s, total=188.63s, count=1, min=188631.2ms, max=188631.2ms
-  sensor_polling: mean=459.2ms, total=137.77s, count=300, min=397.2ms, max=752.9ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.0ms, max=9750.0ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.0ms, max=88.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.7ms, max=3868.7ms
-  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
-  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:06:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:06:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:06:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/10 23:06:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:06:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:06:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006897m
-[05/10 23:06:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:06:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:06:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:06:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92177406  0.76590406  0.00689695] yaw=-149.5deg
-[05/10 23:06:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71163099  0.32276216  0.00689695] yaw=179.5deg
-[05/10 23:06:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70008078  0.8567145   0.00689695] yaw=-170.3deg
-[05/10 23:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:06:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:06:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms
-[05/10 23:06:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.766, 0.007)
-[05/10 23:06:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg
-[05/10 23:06:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
-[05/10 23:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:06:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 23:06:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:06:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:06:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 23:06:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
-[05/10 23:06:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.400[m] 92.386[deg]
-[05/10 23:06:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:07:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:08:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:09:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:09:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:09:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:09:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:09:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:09:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.57s (batch: 4.01s, save: 8.57s)
-[05/10 23:09:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.40s:
-  episode_total: mean=180.78s, total=180.78s, count=1, min=180782.7ms, max=180782.7ms
-  sensor_polling: mean=445.5ms, total=133.64s, count=300, min=388.6ms, max=842.7ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8565.2ms, max=8565.2ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.9ms, max=105.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.1ms, max=4009.1ms
-  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
-  task_specific_sample: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=402.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:09:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:09:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/10 23:09:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:09:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:09:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050043m
-[05/10 23:09:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:09:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:09:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:09:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01988596  1.22744096  0.05004333] yaw=-130.7deg
-[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:09:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96005084  0.86684374  0.05004333] yaw=-151.1deg
-[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6678634   0.15019616  0.05004333] yaw=171.7deg
-[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:09:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:09:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms
-[05/10 23:09:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 1.227, 0.050)
-[05/10 23:09:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg
-[05/10 23:09:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:09:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/10 23:09:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:09:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:09:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 23:09:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.931s, found feasible grasp: True
-[05/10 23:09:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.597[m] 92.849[deg]
-[05/10 23:09:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:09:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:09:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 23:09:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:09:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:09:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068614m
-[05/10 23:09:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:09:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:09:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:09:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9294979   0.1920714   0.06861409] yaw=151.6deg
-[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88711045  0.13451789  0.06861409] yaw=152.2deg
-[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:09:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76500749  0.4411196   0.06861409] yaw=177.3deg
-[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:09:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:09:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms
-[05/10 23:09:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.192, 0.069)
-[05/10 23:09:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.6 deg
-[05/10 23:09:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:09:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 23:09:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 23:09:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:09:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:09:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 23:09:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
-[05/10 23:09:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.368[m] 84.336[deg]
-[05/10 23:09:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:11:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:11:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:11:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:11:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:11:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps
-[05/10 23:11:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True
-[05/10 23:11:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.173[deg]
-[05/10 23:11:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:11:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:11:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 23:11:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:11:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:11:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016157m
-[05/10 23:11:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:11:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:11:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92559042  0.35279308  0.01615693] yaw=171.4deg
-[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76913931  0.1905269   0.01615693] yaw=153.5deg
-[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80133331  0.01050044  0.01615693] yaw=146.7deg
-[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms
-[05/10 23:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.353, 0.016)
-[05/10 23:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg
-[05/10 23:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:11:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:11:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 23:11:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 23:11:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:11:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:11:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 23:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
-[05/10 23:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.362[m] 91.825[deg]
-[05/10 23:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:11:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:12:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:12:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:12:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:12:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:12:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/10 23:12:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.384s, found feasible grasp: True
-[05/10 23:12:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.452[deg]
-[05/10 23:12:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:12:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:12:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:13:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:13:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:13:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:14:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:14:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:14:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:14:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:14:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:14:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.41s (batch: 4.00s, save: 8.41s)
-[05/10 23:14:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s:
-  episode_total: mean=103.21s, total=309.64s, count=3, min=4564.0ms, max=201376.4ms
-  sensor_polling: mean=456.7ms, total=221.96s, count=486, min=389.8ms, max=884.8ms
-  physics_step: mean=22.3ms, total=10.84s, count=486, min=13.6ms, max=68.3ms
-  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8408.3ms, max=8408.3ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.3ms, max=4003.3ms
-  task_sampling: mean=364.8ms, total=1.09s, count=3, min=307.0ms, max=445.9ms
-  task_specific_sample: mean=361.7ms, total=1.09s, count=3, min=304.1ms, max=442.2ms
-  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.5ms
-  mj_forward_sync: mean=443.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/10 23:14:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:14:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 23:14:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:14:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:14:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088841m
-[05/10 23:14:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:14:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:14:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9141143   1.043622    0.08884136] yaw=-149.9deg
-[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84054035  0.70336601  0.08884136] yaw=-167.7deg
-[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60969059  0.43620205  0.08884136] yaw=172.1deg
-[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:14:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:14:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.5ms, total=380.5ms
-[05/10 23:14:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 1.044, 0.089)
-[05/10 23:14:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg
-[05/10 23:14:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:14:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:14:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:14:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 23:14:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
-[05/10 23:14:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:14:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:14:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps
-[05/10 23:14:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.264s, found feasible grasp: True
-[05/10 23:14:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.582[m] 82.961[deg]
-[05/10 23:14:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:14:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:14:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:15:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:15:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:15:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
-[05/10 23:15:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True
-[05/10 23:15:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.631[deg]
-[05/10 23:15:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:16:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:16:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:17:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:17:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:17:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:17:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:17:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:17:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.33s (batch: 3.92s, save: 11.41s)
-[05/10 23:17:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.66s:
-  episode_total: mean=192.89s, total=192.89s, count=1, min=192888.7ms, max=192888.7ms
-  sensor_polling: mean=450.3ms, total=135.08s, count=300, min=387.2ms, max=841.2ms
-  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11406.9ms, max=11406.9ms
-  physics_step: mean=20.5ms, total=6.14s, count=300, min=13.8ms, max=38.1ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.7ms, max=3920.7ms
-  task_sampling: mean=657.5ms, total=657.5ms, count=1, min=657.5ms, max=657.5ms
-  task_specific_sample: mean=650.2ms, total=650.2ms, count=1, min=650.2ms, max=650.2ms
-  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  mj_forward_sync: mean=449.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:17:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:17:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/10 23:17:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:17:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:17:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054046m
-[05/10 23:17:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:17:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:17:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71513184  0.91201901  0.05404621] yaw=-150.5deg
-[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94391485  0.50665513  0.05404621] yaw=-188.3deg
-[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87642087  0.53795885  0.05404621] yaw=-170.7deg
-[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:17:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:17:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.0ms, total=168.1ms
-[05/10 23:17:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.912, 0.054)
-[05/10 23:17:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
-[05/10 23:17:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:17:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:17:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:17:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 23:17:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/10 23:17:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:17:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:17:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/10 23:17:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True
-[05/10 23:17:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.639[m] 71.985[deg]
-[05/10 23:17:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:19:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:20:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:20:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:20:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:20:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:20:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:20:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.30s, save: 11.30s)
-[05/10 23:20:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
-  episode_total: mean=186.10s, total=186.10s, count=1, min=186097.0ms, max=186097.0ms
-  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=389.2ms, max=972.1ms
-  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11300.6ms, max=11300.6ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.1ms, max=49.0ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.5ms, max=4304.5ms
-  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:20:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:20:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/10 23:20:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:20:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:20:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064039m
-[05/10 23:20:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:20:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:20:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63288581  0.28576038  0.06403896] yaw=175.2deg
-[05/10 23:20:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:20:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00184497  0.77861849  0.06403896] yaw=-165.0deg
-[05/10 23:20:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:20:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:20:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms
-[05/10 23:20:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.286, 0.064)
-[05/10 23:20:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
-[05/10 23:20:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:20:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:20:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:20:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 23:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 23:20:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:20:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:20:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 23:21:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True
-[05/10 23:21:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.655[m] 92.411[deg]
-[05/10 23:21:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:23:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:23:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:23:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:23:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:24:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:24:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:24:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.29s (batch: 4.24s, save: 8.06s)
-[05/10 23:24:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
-  episode_total: mean=191.38s, total=191.38s, count=1, min=191378.0ms, max=191378.0ms
-  sensor_polling: mean=470.8ms, total=141.25s, count=300, min=410.7ms, max=864.4ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8057.8ms, max=8057.8ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=51.8ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
-  task_sampling: mean=531.9ms, total=531.9ms, count=1, min=531.9ms, max=531.9ms
-  task_specific_sample: mean=528.4ms, total=528.4ms, count=1, min=528.4ms, max=528.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:24:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:24:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:24:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 23:24:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:24:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:24:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060582m
-[05/10 23:24:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:24:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:24:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05135322  0.96133591  0.06058206] yaw=-151.0deg
-[05/10 23:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:24:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:24:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms
-[05/10 23:24:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.961, 0.061)
-[05/10 23:24:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg
-[05/10 23:24:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.808m
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:24:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:24:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 23:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/10 23:24:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:24:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:24:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 23:24:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/10 23:24:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.391[m] 87.767[deg]
-[05/10 23:24:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:25:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:26:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:27:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:27:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:27:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:27:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/10 23:27:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:27:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:27:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.38s (batch: 3.96s, save: 9.42s)
-[05/10 23:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=209.29s, total=209.29s, count=1, min=209286.3ms, max=209286.3ms
-  sensor_polling: mean=503.8ms, total=150.64s, count=299, min=409.7ms, max=1106.0ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.0ms, max=9421.0ms
-  physics_step: mean=24.4ms, total=7.29s, count=299, min=14.3ms, max=95.4ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.0ms, max=3960.0ms
-  task_sampling: mean=420.9ms, total=420.9ms, count=1, min=420.9ms, max=420.9ms
-  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=555.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/10 23:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079408m
-[05/10 23:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66580879  0.69928241  0.07940835] yaw=-159.2deg
-[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0228633   0.87934228  0.07940835] yaw=-150.7deg
-[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7741667   0.03092141  0.07940835] yaw=154.0deg
-[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=142.4ms, total=142.4ms
-[05/10 23:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.699, 0.079)
-[05/10 23:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg
-[05/10 23:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:27:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:27:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 23:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
-[05/10 23:27:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:27:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps
-[05/10 23:27:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.886s, found feasible grasp: True
-[05/10 23:27:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 93.241[deg]
-[05/10 23:27:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:30:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:30:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:30:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
-[05/10 23:30:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:30:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:30:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:30:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.85s (batch: 4.91s, save: 8.94s)
-[05/10 23:30:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=188.47s, total=188.47s, count=1, min=188466.9ms, max=188466.9ms
-  sensor_polling: mean=463.0ms, total=138.91s, count=300, min=399.4ms, max=758.3ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.2ms, max=76.6ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4914.4ms, max=4914.4ms
-  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
-  task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=521.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:30:53 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:30:53 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:30:53 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 16/16 successful episodes
-[05/10 23:30:53 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=5754.47s
-  House averages:
-  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
-  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
-  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
-  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
-  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
-  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
-  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:30:53 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 23:30:53 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5754.47s
-  Worker averages:
-  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
-  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
-  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
-  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
-  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
-  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
-  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
-  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
-  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
-  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
-  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
-  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
-  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
-  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
-  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:30:55 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 23:30:55 INFO pipeline.py:1491] Success count: 16, Total count: 16
-[05/10 23:30:55 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
-==========================================
diff --git a/fridge_7/chunk_010/shard_4_of_4.log b/fridge_7/chunk_010/shard_4_of_4.log
deleted file mode 100644
index 664bdd2ed080362d32b92091aabf605f54155362..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_010/shard_4_of_4.log
+++ /dev/null
@@ -1,1701 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_010
-  shard=4/4  seed=21004  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 22:37:52 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 22:37:52 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_010'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 22:37:52 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_010'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7422ba20d210>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21004,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 22:37:52 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 22:37:52 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 127692499240400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127692499240400 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 127692499240400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127692499240400 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 127692503655056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127692503655056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127692503653072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127692503653072 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127692503653072 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127692503653072 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127692503655056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127692503655056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127692499683728 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127692499683728 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127692499685456 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127692499685456 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 127692499685456 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127692499685456 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127692499683728 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127692499683728 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 22:37:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5b75ccf01e80 at 0x7422ba710810>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b75ccf2fa20 at 0x7422ba71bfd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b75ccf2fa20 at 0x7422ba6a2590>
-[05/10 22:37:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 22:37:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:37:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 22:37:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:37:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:37:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051637m
-[05/10 22:37:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:37:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 22:37:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94646648  0.29295564  0.05163731] yaw=155.3deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94396257  0.26988581  0.05163731] yaw=164.3deg
-[05/10 22:37:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:37:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97613522  0.83561159  0.05163731] yaw=-143.1deg
-[05/10 22:37:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:37:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:37:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=26.2ms, retries=761.1ms, total=787.3ms
-[05/10 22:37:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.293, 0.052)
-[05/10 22:37:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg
-[05/10 22:37:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:37:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:37:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:37:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 22:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.232s
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/10 22:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
-[05/10 22:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.356[m] 86.587[deg]
-[05/10 22:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:38:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:39:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:39:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:39:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:39:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:39:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:39:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps
-[05/10 22:39:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.457s, found feasible grasp: True
-[05/10 22:39:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]
-[05/10 22:39:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 22:39:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:39:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:39:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:39:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/10 22:39:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:39:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:39:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021442m
-[05/10 22:39:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:39:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:39:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77004991  0.4076351   0.02144173] yaw=175.5deg
-[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:39:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92645745  0.34855867  0.02144173] yaw=172.3deg
-[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:39:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.979881    0.24180658  0.02144173] yaw=155.7deg
-[05/10 22:39:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:39:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:39:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.9ms, total=138.9ms
-[05/10 22:39:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.408, 0.021)
-[05/10 22:39:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg
-[05/10 22:39:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:39:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:39:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:39:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 22:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/10 22:39:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:39:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:39:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/10 22:39:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True
-[05/10 22:39:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.528[m] 99.537[deg]
-[05/10 22:39:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:41:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:42:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 22:42:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:42:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:42:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:42:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 22:42:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:42:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.25s (batch: 4.06s, save: 8.20s)
-[05/10 22:42:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.24s:
-  episode_total: mean=152.08s, total=304.17s, count=2, min=119975.1ms, max=184194.8ms
-  sensor_polling: mean=449.8ms, total=210.49s, count=468, min=378.7ms, max=725.8ms
-  physics_step: mean=20.8ms, total=9.72s, count=468, min=15.1ms, max=68.3ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.2ms, max=8195.2ms
-  task_sampling: mean=2.12s, total=4.24s, count=2, min=385.0ms, max=3854.6ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.5ms, max=4057.5ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  task_specific_sample: mean=722.9ms, total=1.45s, count=2, min=381.9ms, max=1063.9ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms
-  mj_forward_sync: mean=516.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=34.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:43:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:43:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:43:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:43:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/10 22:43:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:43:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:43:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025142m
-[05/10 22:43:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:43:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:43:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94112882  0.74785383  0.02514232] yaw=-161.4deg
-[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85778318  0.07358061  0.02514232] yaw=154.1deg
-[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:43:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:43:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70319029  0.38667033  0.02514232] yaw=179.8deg
-[05/10 22:43:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:43:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:43:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms
-[05/10 22:43:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.748, 0.025)
-[05/10 22:43:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg
-[05/10 22:43:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:43:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:43:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 22:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 22:43:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:43:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:43:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:43:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True
-[05/10 22:43:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 90.090[deg]
-[05/10 22:43:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:43:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:45:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:45:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:45:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:45:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/10 22:45:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:45:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:45:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.74s (batch: 3.79s, save: 9.95s)
-[05/10 22:45:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
-  episode_total: mean=178.09s, total=178.09s, count=1, min=178088.1ms, max=178088.1ms
-  sensor_polling: mean=462.1ms, total=135.41s, count=293, min=389.1ms, max=830.4ms
-  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9948.8ms, max=9948.8ms
-  physics_step: mean=21.7ms, total=6.35s, count=293, min=13.5ms, max=68.7ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.6ms, max=3787.6ms
-  task_sampling: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
-  task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:45:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:45:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:45:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:45:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/10 22:45:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:45:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:45:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085114m
-[05/10 22:45:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:45:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:45:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0381564   1.2504275   0.08511438] yaw=-120.9deg
-[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00353208  1.29448249  0.08511438] yaw=-137.3deg
-[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:45:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65847062  0.43426079  0.08511438] yaw=185.1deg
-[05/10 22:45:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:45:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:45:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.7ms
-[05/10 22:45:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.250, 0.085)
-[05/10 22:45:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg
-[05/10 22:45:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:45:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:46:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:46:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 22:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 22:46:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:46:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:46:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:46:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.524s, found feasible grasp: True
-[05/10 22:46:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 97.704[deg]
-[05/10 22:46:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:47:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:48:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 22:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 22:48:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 22:48:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 22:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 22:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 22:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 22:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 22:48:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:48:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:48:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
-[05/10 22:48:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.392s, found feasible grasp: False
-[05/10 22:48:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 22:48:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:48:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:48:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:48:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 22:48:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:48:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:48:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092709m
-[05/10 22:48:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:48:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:48:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01385239  0.94937734  0.09270903] yaw=-137.3deg
-[05/10 22:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90951962  1.15564395  0.09270903] yaw=-132.7deg
-[05/10 22:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:48:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:48:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
-[05/10 22:48:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.949, 0.093)
-[05/10 22:48:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
-[05/10 22:48:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.832m
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:48:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:48:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 22:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 22:48:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:48:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:48:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:48:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
-[05/10 22:48:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.422[m] 91.780[deg]
-[05/10 22:48:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:49:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:50:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:51:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:51:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:51:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:51:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:51:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:51:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.67s (batch: 4.36s, save: 8.32s)
-[05/10 22:51:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.87s:
-  episode_total: mean=157.25s, total=314.50s, count=2, min=134986.1ms, max=179517.8ms
-  sensor_polling: mean=451.3ms, total=245.93s, count=545, min=381.4ms, max=789.2ms
-  physics_step: mean=21.1ms, total=11.48s, count=545, min=13.9ms, max=76.5ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.7ms, max=8318.7ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.6ms, max=4355.6ms
-  task_sampling: mean=436.7ms, total=873.5ms, count=2, min=359.4ms, max=514.0ms
-  task_specific_sample: mean=433.5ms, total=866.9ms, count=2, min=356.4ms, max=510.5ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=378.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 22:51:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:51:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:51:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 22:51:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:51:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:51:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031139m
-[05/10 22:51:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:51:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:51:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82862913  0.54912305  0.03113898] yaw=-174.0deg
-[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79218234  0.34733954  0.03113898] yaw=181.2deg
-[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:51:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:51:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81726392  0.72876498  0.03113898] yaw=-170.0deg
-[05/10 22:51:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:51:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:51:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms
-[05/10 22:51:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.549, 0.031)
-[05/10 22:51:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg
-[05/10 22:51:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:51:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:51:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:51:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 22:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/10 22:51:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:51:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:51:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/10 22:51:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True
-[05/10 22:51:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.412[m] 90.149[deg]
-[05/10 22:51:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:51:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:52:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:53:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:54:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:54:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:54:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:54:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:54:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.44s (batch: 3.87s, save: 7.58s)
-[05/10 22:54:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s:
-  episode_total: mean=185.37s, total=185.37s, count=1, min=185374.8ms, max=185374.8ms
-  sensor_polling: mean=457.4ms, total=137.22s, count=300, min=390.8ms, max=774.2ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7579.9ms, max=7579.9ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.8ms, max=49.2ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.1ms, max=3865.1ms
-  task_sampling: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms
-  task_specific_sample: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:54:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:54:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:54:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/10 22:54:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:54:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:54:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052019m
-[05/10 22:54:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:54:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:54:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6983695   0.57458565  0.05201897] yaw=-182.9deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96967141  1.27976617  0.05201897] yaw=-138.1deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:54:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21259144  1.09120141  0.05201897] yaw=-135.5deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:54:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:54:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=166.9ms
-[05/10 22:54:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.575, 0.052)
-[05/10 22:54:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg
-[05/10 22:54:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.008m
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:54:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:54:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:54:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 22:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 22:54:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:54:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:54:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 22:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True
-[05/10 22:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.602[m] 99.897[deg]
-[05/10 22:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:56:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:57:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:57:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:57:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 22:57:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:57:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:57:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.20s (batch: 3.70s, save: 7.50s)
-[05/10 22:57:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
-  episode_total: mean=167.96s, total=167.96s, count=1, min=167959.2ms, max=167959.2ms
-  sensor_polling: mean=426.5ms, total=127.96s, count=300, min=388.9ms, max=874.3ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7501.8ms, max=7501.8ms
-  physics_step: mean=19.8ms, total=5.93s, count=300, min=13.8ms, max=59.0ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.0ms, max=3696.0ms
-  task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms
-  task_specific_sample: mean=481.5ms, total=481.5ms, count=1, min=481.5ms, max=481.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:57:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:57:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:57:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 22:57:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:57:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:57:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001499m
-[05/10 22:57:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:57:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:57:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:57:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97669812  0.72898189  0.00149897] yaw=-149.8deg
-[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84017954  0.83409935  0.00149897] yaw=-157.6deg
-[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:57:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:57:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78905962  0.09357419  0.00149897] yaw=158.2deg
-[05/10 22:57:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:57:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:57:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms
-[05/10 22:57:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.729, 0.001)
-[05/10 22:57:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg
-[05/10 22:57:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:57:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:57:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:57:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 22:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 22:57:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:57:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:57:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:57:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
-[05/10 22:57:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.327[m] 83.083[deg]
-[05/10 22:57:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 22:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 22:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 22:57:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 22:59:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 22:59:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 22:59:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps
-[05/10 22:59:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 22:59:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 22:59:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 10.57s (batch: 3.75s, save: 6.82s)
-[05/10 22:59:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.37s:
-  episode_total: mean=161.46s, total=161.46s, count=1, min=161455.3ms, max=161455.3ms
-  sensor_polling: mean=431.8ms, total=123.50s, count=286, min=405.7ms, max=794.9ms
-  save_trajectories: mean=6.82s, total=6.82s, count=1, min=6821.8ms, max=6821.8ms
-  physics_step: mean=18.9ms, total=5.41s, count=286, min=13.9ms, max=31.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.5ms, max=3751.5ms
-  task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms
-  task_specific_sample: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 22:59:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 22:59:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 22:59:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
-[05/10 22:59:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 22:59:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 22:59:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086477m
-[05/10 22:59:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 22:59:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 22:59:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69798396  0.43138453  0.08647667] yaw=169.9deg
-[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76038231  0.02761602  0.08647667] yaw=162.6deg
-[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 22:59:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01636125  1.01034501  0.08647667] yaw=-142.1deg
-[05/10 22:59:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 22:59:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 22:59:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms
-[05/10 22:59:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.431, 0.086)
-[05/10 22:59:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg
-[05/10 22:59:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.006m
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 22:59:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 22:59:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 22:59:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 22:59:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/10 22:59:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 22:59:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 22:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 22:59:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True
-[05/10 22:59:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.592[m] 98.411[deg]
-[05/10 22:59:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 22:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 22:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:00:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:02:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:02:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:02:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:02:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:03:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:03:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:03:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.56s (batch: 3.80s, save: 10.76s)
-[05/10 23:03:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
-  episode_total: mean=188.76s, total=188.76s, count=1, min=188760.5ms, max=188760.5ms
-  sensor_polling: mean=459.1ms, total=137.73s, count=300, min=393.1ms, max=851.7ms
-  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10761.9ms, max=10761.9ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=14.0ms, max=69.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms
-  task_sampling: mean=441.9ms, total=441.9ms, count=1, min=441.9ms, max=441.9ms
-  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=602.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:03:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:03:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:03:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/10 23:03:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:03:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:03:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024172m
-[05/10 23:03:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:03:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:03:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:07 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms
-[05/10 23:03:07 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 23:03:07 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/10 23:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 23:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021769m
-[05/10 23:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0124824   1.18843333  0.02176932] yaw=-137.1deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99086151  0.74775623  0.02176932] yaw=-153.3deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65580689  0.30052194  0.02176932] yaw=173.8deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms
-[05/10 23:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.188, 0.022)
-[05/10 23:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg
-[05/10 23:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:03:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:03:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/10 23:03:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:03:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:03:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/10 23:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.742s, found feasible grasp: True
-[05/10 23:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 83.481[deg]
-[05/10 23:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:05:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
-[05/10 23:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.597s, found feasible grasp: True
-[05/10 23:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.384[deg]
-[05/10 23:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:05:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:05:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:05:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:05:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:05:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:05:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 23:05:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 82 non-colliding grasps
-[05/10 23:05:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 1.481s, found feasible grasp: True
-[05/10 23:05:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.112[m] 0.211[deg]
-[05/10 23:05:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:05:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:05:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:05:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 23:05:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:05:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:05:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019915m
-[05/10 23:05:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:05:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:05:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99644143  1.19127703  0.01991548] yaw=-135.0deg
-[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75406384  0.6496604   0.01991548] yaw=-163.7deg
-[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0122268   0.89200526  0.01991548] yaw=-150.4deg
-[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:05:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:05:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.5ms
-[05/10 23:05:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.191, 0.020)
-[05/10 23:05:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg
-[05/10 23:05:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:05:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:05:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 23:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/10 23:05:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:05:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:05:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 23:05:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True
-[05/10 23:05:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.550[m] 83.156[deg]
-[05/10 23:05:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:06:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:06:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 23:06:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:06:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:06:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060513m
-[05/10 23:06:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:06:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:06:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92512675  0.87453013  0.06051314] yaw=-149.7deg
-[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.836714    0.21346093  0.06051314] yaw=174.1deg
-[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76436377  0.22133847  0.06051314] yaw=155.0deg
-[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:06:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:06:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.9ms, total=187.9ms
-[05/10 23:06:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.875, 0.061)
-[05/10 23:06:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
-[05/10 23:06:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:06:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 23:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/10 23:06:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:06:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:06:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 23:06:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
-[05/10 23:06:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.944[deg]
-[05/10 23:06:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:06:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:08:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:08:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:08:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:08:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:09:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:09:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:09:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.71s (batch: 4.83s, save: 8.87s)
-[05/10 23:09:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.14s:
-  episode_total: mean=88.13s, total=352.51s, count=4, min=199.9ms, max=183659.1ms
-  sensor_polling: mean=457.2ms, total=260.63s, count=570, min=390.9ms, max=932.9ms
-  physics_step: mean=21.1ms, total=12.02s, count=570, min=13.7ms, max=52.4ms
-  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8873.8ms, max=8873.8ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
-  task_specific_sample: mean=332.2ms, total=1.33s, count=4, min=192.6ms, max=427.2ms
-  task_sampling: mean=381.6ms, total=1.14s, count=3, min=346.8ms, max=430.9ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.1ms, max=3.4ms
-  mj_forward_sync: mean=431.2us, total=1.7ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 23:09:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:09:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 23:09:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:09:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:09:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009666m
-[05/10 23:09:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:09:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:09:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76303089  0.33473873  0.00966643] yaw=163.1deg
-[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97934995  1.14923109  0.00966643] yaw=-132.5deg
-[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70376472  0.50597531  0.00966643] yaw=-172.4deg
-[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:09:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:09:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms
-[05/10 23:09:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.335, 0.010)
-[05/10 23:09:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg
-[05/10 23:09:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:09:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:09:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/10 23:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/10 23:09:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:09:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:09:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/10 23:09:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.448s, found feasible grasp: True
-[05/10 23:09:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 86.199[deg]
-[05/10 23:09:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:09:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:11:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:12:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:12:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:12:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:12:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:12:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:12:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.40s (batch: 4.32s, save: 8.08s)
-[05/10 23:12:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
-  episode_total: mean=202.02s, total=202.02s, count=1, min=202020.5ms, max=202020.5ms
-  sensor_polling: mean=459.3ms, total=137.78s, count=300, min=392.1ms, max=769.1ms
-  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8080.1ms, max=8080.1ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.5ms, max=39.8ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.5ms, max=4323.5ms
-  task_sampling: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
-  task_specific_sample: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:12:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:12:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:12:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/10 23:12:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:12:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:12:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031121m
-[05/10 23:12:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:12:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:12:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88450412  0.87225546  0.03112136] yaw=-148.4deg
-[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82583343  1.10198974  0.03112136] yaw=-145.9deg
-[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:12:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:12:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6833781   0.87154561  0.03112136] yaw=-153.5deg
-[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:12:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:12:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.9ms
-[05/10 23:12:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.031)
-[05/10 23:12:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg
-[05/10 23:12:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:12:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:12:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:12:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/10 23:12:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 23:12:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:12:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:12:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/10 23:12:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True
-[05/10 23:12:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.507[m] 92.821[deg]
-[05/10 23:12:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:13:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:14:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:15:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:15:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:15:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:15:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:15:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:15:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.94s (batch: 3.98s, save: 7.97s)
-[05/10 23:15:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
-  episode_total: mean=184.63s, total=184.63s, count=1, min=184628.9ms, max=184628.9ms
-  sensor_polling: mean=453.5ms, total=136.04s, count=300, min=376.4ms, max=793.5ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7967.1ms, max=7967.1ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=14.1ms, max=58.6ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.5ms, max=3977.5ms
-  task_sampling: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms
-  task_specific_sample: mean=465.7ms, total=465.7ms, count=1, min=465.7ms, max=465.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:15:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:15:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:15:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:15:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:15:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:15:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/10 23:15:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:15:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:15:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050939m
-[05/10 23:15:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:15:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:15:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:15:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77535592  0.1748737   0.05093892] yaw=172.4deg
-[05/10 23:15:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72993338  0.81569096  0.05093892] yaw=-163.1deg
-[05/10 23:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79251365  0.89827407  0.05093892] yaw=-148.1deg
-[05/10 23:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:15:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:15:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms
-[05/10 23:15:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.175, 0.051)
-[05/10 23:15:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg
-[05/10 23:15:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.977m
-[05/10 23:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:15:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:15:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/10 23:15:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
-[05/10 23:15:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:15:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:15:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:15:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 23:15:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.550[m] 89.410[deg]
-[05/10 23:15:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:16:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:16:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:18:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:18:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:18:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/10 23:18:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.471s, found feasible grasp: True
-[05/10 23:18:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.867[deg]
-[05/10 23:18:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:18:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:18:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:18:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:18:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:18:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:18:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:18:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.87s (batch: 3.81s, save: 9.06s)
-[05/10 23:18:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
-  episode_total: mean=195.53s, total=195.53s, count=1, min=195529.9ms, max=195529.9ms
-  sensor_polling: mean=457.0ms, total=137.09s, count=300, min=383.9ms, max=931.5ms
-  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9058.0ms, max=9058.0ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=71.3ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.5ms, max=3808.5ms
-  task_sampling: mean=368.1ms, total=368.1ms, count=1, min=368.1ms, max=368.1ms
-  task_specific_sample: mean=363.8ms, total=363.8ms, count=1, min=363.8ms, max=363.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:18:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:18:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:18:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/10 23:18:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:18:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:18:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049946m
-[05/10 23:18:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:18:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:18:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94939974  0.64360502  0.0499456 ] yaw=-168.7deg
-[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15025367  1.07719425  0.0499456 ] yaw=-143.5deg
-[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11207081  0.9852136   0.0499456 ] yaw=-138.2deg
-[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:18:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:18:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms
-[05/10 23:18:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.644, 0.050)
-[05/10 23:18:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
-[05/10 23:18:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.770m
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:18:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/10 23:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/10 23:18:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:18:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:18:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/10 23:18:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.415s, found feasible grasp: True
-[05/10 23:18:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 102.274[deg]
-[05/10 23:18:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:21:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:21:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:21:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:21:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:22:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:22:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:22:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.91s (batch: 3.86s, save: 10.05s)
-[05/10 23:22:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.05s, total=189.05s, count=1, min=189051.2ms, max=189051.2ms
-  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=384.5ms, max=944.0ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10054.9ms, max=10054.9ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.8ms, max=47.9ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.2ms, max=3857.2ms
-  task_sampling: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
-  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:22:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:22:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:22:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/10 23:22:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:22:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:22:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034938m
-[05/10 23:22:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:22:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:22:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96926983  0.96649758  0.03493774] yaw=-155.2deg
-[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00193814  1.08350053  0.03493774] yaw=-132.2deg
-[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82263298  0.12315937  0.03493774] yaw=166.8deg
-[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:22:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:22:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms
-[05/10 23:22:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.966, 0.035)
-[05/10 23:22:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
-[05/10 23:22:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.879m
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:22:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:22:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/10 23:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/10 23:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/10 23:22:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/10 23:22:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.438[m] 78.846[deg]
-[05/10 23:22:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:22:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:24:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:25:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:25:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
-[05/10 23:25:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:25:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:25:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
-[05/10 23:25:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.33s (batch: 4.35s, save: 8.99s)
-[05/10 23:25:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
-  episode_total: mean=195.24s, total=195.24s, count=1, min=195236.2ms, max=195236.2ms
-  sensor_polling: mean=483.8ms, total=145.13s, count=300, min=404.4ms, max=942.8ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8987.3ms, max=8987.3ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.3ms, max=94.0ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.9ms, max=4346.9ms
-  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
-  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:25:21 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:25:21 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
-[05/10 23:25:21 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/10 23:25:21 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5179.67s
-  House averages:
-  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
-  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
-  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
-  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
-  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
-  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
-  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.0us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:25:21 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/10 23:25:21 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5179.67s
-  Worker averages:
-  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
-  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
-  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
-  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
-  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
-  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
-  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
-  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
-  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
-  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
-  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
-  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
-  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
-  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
-  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
-  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
-  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=22.0us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/10 23:25:23 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/10 23:25:23 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/10 23:25:23 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
-==========================================
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-05/10 23:31:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 23:31:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 23:31:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 23:31:24 INFO: {'batch_num': 3,
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-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21103,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 23:31:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 23:31:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 23:31:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 23:31:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 23:31:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 23:31:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 23:31:25 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ad4beefc7d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21104,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 23:31:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 23:31:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 23:31:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 23:31:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 23:31:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 23:31:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 23:31:25 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c9013a26b10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21101,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 23:31:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 23:31:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 23:31:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 23:31:26 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 23:31:26 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 23:31:26 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 23:31:26 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x76b1b3d2ba10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21102,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 23:31:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 23:31:26 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 23:31:26 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 23:31:26 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036596m	[env.py: 870]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076782m	[env.py: 870]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8288799   0.76985789  0.0365958 ] yaw=-167.4deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93678307  0.8402857   0.07678213] yaw=-149.7deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.0ms, retries=289.5ms, total=304.5ms	[env.py: 1075]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.770, 0.037)	[env.py: 1079]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76813749  0.21635655  0.07678213] yaw=152.8deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68157984  0.81878541  0.07678213] yaw=-172.9deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=355.5ms, total=370.5ms	[env.py: 1075]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.840, 0.077)	[env.py: 1079]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060578m	[env.py: 870]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 23:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:31:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82021128  0.46485451  0.06057821] yaw=172.8deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70555294  0.56070272  0.06057821] yaw=-182.6deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86486561  0.11360192  0.06057821] yaw=159.2deg	[env.py: 1019]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=13.5ms, retries=208.7ms, total=222.2ms	[env.py: 1075]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.465, 0.061)	[env.py: 1079]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
-05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:31:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:31:29 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 23:31:29 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 23:31:29 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 23:31:29 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 23:31:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:31:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032647m	[env.py: 870]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:31:29 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:31:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07190192  0.93407676  0.03264666] yaw=-139.2deg	[env.py: 1019]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8479343   0.52194309  0.03264666] yaw=-188.2deg	[env.py: 1019]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89833318  0.61992776  0.03264666] yaw=-169.8deg	[env.py: 1019]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=192.9ms, total=207.2ms	[env.py: 1075]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.934, 0.033)	[env.py: 1079]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg	[env.py: 1082]
-05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:31:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:31:55 INFO: [Worker 0] Warmed up parallel IK solver in 27.265s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:31:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:31:56 INFO: [Worker 0] Warmed up parallel IK solver in 27.297s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:31:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:31:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 87.631[deg]	[grasp_sample.py: 539]
-05/10 23:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:31:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:31:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 96.548[deg]	[grasp_sample.py: 539]
-05/10 23:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:31:56 INFO: [Worker 0] Warmed up parallel IK solver in 27.424s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:31:57 INFO: [Worker 0] Warmed up parallel IK solver in 28.229s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:31:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:31:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:31:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:31:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 97.645[deg]	[grasp_sample.py: 539]
-05/10 23:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:31:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:31:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.427[m] 88.646[deg]	[grasp_sample.py: 539]
-05/10 23:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:32:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:33:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:34:48 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:34:52 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:35:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:35:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:35:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:35:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:35:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:35:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:35:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:35:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:35:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:35:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:35:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.81s, save: 9.29s)	[pipeline.py: 300]
-05/10 23:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.72s (batch: 4.37s, save: 9.35s)	[pipeline.py: 300]
-05/10 23:35:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235740.7ms, max=235740.7ms
-  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=441.1ms, max=909.4ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9347.2ms, max=9347.2ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.7ms, max=90.1ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.9ms, max=4369.9ms
-  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.2ms, max=3624.2ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  task_specific_sample: mean=814.3ms, total=814.3ms, count=1, min=814.3ms, max=814.3ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=58.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/10 23:35:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.44s:
-  episode_total: mean=234.93s, total=234.93s, count=1, min=234931.6ms, max=234931.6ms
-  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=440.0ms, max=957.5ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.7ms, max=9292.7ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=16.6ms, max=122.0ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4812.4ms, max=4812.4ms
-  task_sampling: mean=3.44s, total=3.44s, count=1, min=3442.1ms, max=3442.1ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  task_specific_sample: mean=478.2ms, total=478.2ms, count=1, min=478.2ms, max=478.2ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:35:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037842m	[env.py: 870]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79672647  0.87519575  0.03784208] yaw=-145.6deg	[env.py: 1019]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75131251  0.21558023  0.03784208] yaw=164.9deg	[env.py: 1019]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:35:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88646408  1.04241023  0.03784208] yaw=-137.3deg	[env.py: 1019]
-05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073252m	[env.py: 870]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms	[env.py: 1075]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.875, 0.038)	[env.py: 1079]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82891724  0.27872446  0.07325219] yaw=169.2deg	[env.py: 1019]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093827  1.1277145   0.07325219] yaw=-128.0deg	[env.py: 1019]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85072032  0.07397582  0.07325219] yaw=155.0deg	[env.py: 1019]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.3ms, total=131.4ms	[env.py: 1075]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.279, 0.073)	[env.py: 1079]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
-05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:35:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:35:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:35:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 86.624[deg]	[grasp_sample.py: 539]
-05/10 23:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:35:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:35:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.10s (batch: 4.32s, save: 10.78s)	[pipeline.py: 300]
-05/10 23:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 87.371[deg]	[grasp_sample.py: 539]
-05/10 23:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:35:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:35:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:35:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.72s:
-  episode_total: mean=240.32s, total=240.32s, count=1, min=240316.5ms, max=240316.5ms
-  sensor_polling: mean=533.8ms, total=160.14s, count=300, min=450.4ms, max=917.9ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.4ms, max=10779.4ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=17.2ms, max=89.3ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.0ms, max=4321.0ms
-  task_sampling: mean=3.72s, total=3.72s, count=1, min=3717.8ms, max=3717.8ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  task_specific_sample: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=450.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=40.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:35:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:35:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:35:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.19s (batch: 3.64s, save: 10.54s)	[pipeline.py: 300]
-05/10 23:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:35:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076543m	[env.py: 870]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81464118  0.36541012  0.07654343] yaw=163.2deg	[env.py: 1019]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02696849  0.14820071  0.07654343] yaw=146.4deg	[env.py: 1019]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8984851   0.40177972  0.07654343] yaw=167.8deg	[env.py: 1019]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.3ms, total=262.4ms	[env.py: 1075]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.365, 0.077)	[env.py: 1079]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg	[env.py: 1082]
-05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:27 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.40s:
-  episode_total: mean=241.55s, total=241.55s, count=1, min=241545.7ms, max=241545.7ms
-  sensor_polling: mean=520.7ms, total=156.21s, count=300, min=439.5ms, max=910.8ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10544.3ms, max=10544.3ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=16.5ms, max=85.4ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.0ms, max=3641.0ms
-  task_sampling: mean=3.40s, total=3.40s, count=1, min=3400.4ms, max=3400.4ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=44.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:35:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:35:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.442[m] 88.595[deg]	[grasp_sample.py: 539]
-05/10 23:35:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:35:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047841m	[env.py: 870]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01846892  1.08348091  0.04784074] yaw=-138.2deg	[env.py: 1019]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94987756  0.18479586  0.04784074] yaw=162.8deg	[env.py: 1019]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80033165  1.09570119  0.04784074] yaw=-149.7deg	[env.py: 1019]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms	[env.py: 1075]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.083, 0.048)	[env.py: 1079]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg	[env.py: 1082]
-05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:35:29 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.708s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.930[deg]	[grasp_sample.py: 539]
-05/10 23:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:35:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:35:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:36:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:36:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:36:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:36:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:36:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:37:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:37:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:37:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:37:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:37:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:37:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.906[deg]	[grasp_sample.py: 539]
-05/10 23:37:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:37:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:37:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:38:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:38:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.346s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]	[grasp_sample.py: 539]
-05/10 23:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:38:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:38:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:38:11 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:38:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:38:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:38:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:38:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.407[deg]	[grasp_sample.py: 539]
-05/10 23:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:38:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.015s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:20 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.100[m] 0.705[deg]	[grasp_sample.py: 539]
-05/10 23:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:21 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:38:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:38:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:38:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:38:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:38:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:38:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093436m	[env.py: 870]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:38:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73260005  0.8442576   0.09343575] yaw=-163.0deg	[env.py: 1019]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90980662  0.59657406  0.09343575] yaw=-177.1deg	[env.py: 1019]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92869004  1.19150309  0.09343575] yaw=-144.9deg	[env.py: 1019]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:38:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms	[env.py: 1075]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.844, 0.093)	[env.py: 1079]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
-05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:38:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]	[grasp_sample.py: 539]
-05/10 23:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:38:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:38:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055981m	[env.py: 870]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.861075    1.17952271  0.05598067] yaw=-147.4deg	[env.py: 1019]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6588297   0.48237374  0.05598067] yaw=-178.6deg	[env.py: 1019]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81977159  0.64246729  0.05598067] yaw=-162.7deg	[env.py: 1019]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.9ms, total=306.0ms	[env.py: 1075]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 1.180, 0.056)	[env.py: 1079]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg	[env.py: 1082]
-05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:38:24 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 86.381[deg]	[grasp_sample.py: 539]
-05/10 23:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:38:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:38:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:38:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:38:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:38:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:38:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 23:38:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 23:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:38:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:38:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:38:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043829m	[env.py: 870]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:38:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21353998  1.05882707  0.04382903] yaw=-128.6deg	[env.py: 1019]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86171715  0.6984774   0.04382903] yaw=-164.3deg	[env.py: 1019]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90236657  0.59267187  0.04382903] yaw=-161.7deg	[env.py: 1019]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms	[env.py: 1075]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.214, 1.059, 0.044)	[env.py: 1079]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.6 deg	[env.py: 1082]
-05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:38:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:38:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 99.554[deg]	[grasp_sample.py: 539]
-05/10 23:38:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:38:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:38:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:38:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:38:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 23:38:40 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:38:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:38:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:38:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.09s (batch: 4.42s, save: 9.68s)	[pipeline.py: 300]
-05/10 23:38:48 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s:
-  episode_total: mean=205.59s, total=205.59s, count=1, min=205594.2ms, max=205594.2ms
-  sensor_polling: mean=517.8ms, total=155.34s, count=300, min=442.1ms, max=856.7ms
-  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9676.3ms, max=9676.3ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=72.2ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.0ms, max=4417.0ms
-  task_sampling: mean=583.8ms, total=583.8ms, count=1, min=583.8ms, max=583.8ms
-  task_specific_sample: mean=578.8ms, total=578.8ms, count=1, min=578.8ms, max=578.8ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=715.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:38:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:38:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:38:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:38:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m	[env.py: 870]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00511573  1.01040137  0.06463469] yaw=-145.9deg	[env.py: 1019]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80298611  0.47565056  0.06463469] yaw=184.7deg	[env.py: 1019]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64482705  0.49030811  0.06463469] yaw=-185.6deg	[env.py: 1019]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms	[env.py: 1075]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.005, 1.010, 0.065)	[env.py: 1079]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
-05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:38:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:38:50 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:38:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:38:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:38:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:38:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.714s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:38:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 85.590[deg]	[grasp_sample.py: 539]
-05/10 23:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:39:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:39:03 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
-05/10 23:39:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:39:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:39:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.06s (batch: 4.88s, save: 8.18s)	[pipeline.py: 300]
-05/10 23:39:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
-  episode_total: mean=233.77s, total=233.77s, count=1, min=233768.0ms, max=233768.0ms
-  sensor_polling: mean=536.6ms, total=142.73s, count=266, min=448.8ms, max=862.4ms
-  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8180.8ms, max=8180.8ms
-  physics_step: mean=27.5ms, total=7.32s, count=266, min=13.4ms, max=85.1ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4877.7ms, max=4877.7ms
-  task_sampling: mean=410.9ms, total=410.9ms, count=1, min=410.9ms, max=410.9ms
-  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=647.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:39:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:39:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:39:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:39:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:39:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:39:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:39:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026932m	[env.py: 870]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:39:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84625756  0.72517209  0.0269322 ] yaw=-166.6deg	[env.py: 1019]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97754636  0.86806907  0.0269322 ] yaw=-148.1deg	[env.py: 1019]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68711942  0.13666497  0.0269322 ] yaw=168.9deg	[env.py: 1019]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:39:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms	[env.py: 1075]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.725, 0.027)	[env.py: 1079]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg	[env.py: 1082]
-05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:39:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:39:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:39:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:39:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:39:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:39:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:39:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 90.739[deg]	[grasp_sample.py: 539]
-05/10 23:39:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:39:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:39:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:39:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:39:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:39:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:39:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:40:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:40:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:40:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:41:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:41:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:41:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:41:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:41:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:41:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]	[grasp_sample.py: 539]
-05/10 23:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:41:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:41:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068799m	[env.py: 870]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88265952  0.68215027  0.06879932] yaw=-174.2deg	[env.py: 1019]
-05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95127832  0.42510983  0.06879932] yaw=170.3deg	[env.py: 1019]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69908506  0.30720058  0.06879932] yaw=159.5deg	[env.py: 1019]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.1ms	[env.py: 1075]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.682, 0.069)	[env.py: 1079]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg	[env.py: 1082]
-05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
-05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:41:06 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:41:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:41:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:41:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:41:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.398[m] 81.834[deg]	[grasp_sample.py: 539]
-05/10 23:41:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:41:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:41:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:41:10 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:41:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:41:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:41:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:41:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:41:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:41:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:41:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:41:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.37s (batch: 5.27s, save: 10.10s)	[pipeline.py: 300]
-05/10 23:41:48 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.94s:
-  episode_total: mean=188.62s, total=377.25s, count=2, min=171302.7ms, max=205943.5ms
-  sensor_polling: mean=517.8ms, total=301.34s, count=582, min=436.6ms, max=927.4ms
-  physics_step: mean=25.7ms, total=14.94s, count=582, min=16.3ms, max=140.9ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10095.8ms, max=10095.8ms
-  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5269.7ms, max=5269.7ms
-  task_sampling: mean=470.9ms, total=941.9ms, count=2, min=446.0ms, max=495.8ms
-  task_specific_sample: mean=467.5ms, total=935.0ms, count=2, min=442.1ms, max=492.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=409.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:41:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:41:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041823m	[env.py: 870]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17183616  1.14655706  0.04182274] yaw=-119.4deg	[env.py: 1019]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98990909  0.88163744  0.04182274] yaw=-146.5deg	[env.py: 1019]
-05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99373074  0.11898655  0.04182274] yaw=161.1deg	[env.py: 1019]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:41:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms	[env.py: 1075]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.147, 0.042)	[env.py: 1079]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.4 deg	[env.py: 1082]
-05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:41:50 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:41:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:41:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:41:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:41:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:41:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:41:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.781[deg]	[grasp_sample.py: 539]
-05/10 23:41:53 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:41:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:41:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:41:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:41:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:41:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:41:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020075m	[env.py: 870]
-05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:41:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86758419  0.84399913  0.02007452] yaw=-149.2deg	[env.py: 1019]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67631784  0.66575459  0.02007452] yaw=-158.7deg	[env.py: 1019]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66726536  0.45107961  0.02007452] yaw=177.1deg	[env.py: 1019]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:41:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.4ms	[env.py: 1075]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.844, 0.020)	[env.py: 1079]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
-05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:41:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:41:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:41:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:41:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.472[m] 85.760[deg]	[grasp_sample.py: 539]
-05/10 23:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:41:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:42:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:42:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:42:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:42:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:42:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:42:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:42:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:42:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.08s (batch: 4.72s, save: 9.35s)	[pipeline.py: 300]
-05/10 23:42:26 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=216.56s, total=216.56s, count=1, min=216556.8ms, max=216556.8ms
-  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=446.8ms, max=682.6ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.9ms, max=9352.9ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.6ms, max=143.4ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4722.7ms, max=4722.7ms
-  task_sampling: mean=438.4ms, total=438.4ms, count=1, min=438.4ms, max=438.4ms
-  task_specific_sample: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=31.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:42:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:42:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:42:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027121m	[env.py: 870]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88971007  0.83081089  0.02712107] yaw=-153.0deg	[env.py: 1019]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70712689  0.36916437  0.02712107] yaw=182.8deg	[env.py: 1019]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.4ms	[env.py: 1075]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.831, 0.027)	[env.py: 1079]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
-05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:42:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:42:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:42:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:42:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:42:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.359s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:42:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.073[deg]	[grasp_sample.py: 539]
-05/10 23:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:42:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:42:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:42:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:42:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:42:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:42:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.59s (batch: 5.06s, save: 10.53s)	[pipeline.py: 300]
-05/10 23:42:47 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.61s, total=208.61s, count=1, min=208606.1ms, max=208606.1ms
-  sensor_polling: mean=517.1ms, total=155.12s, count=300, min=450.4ms, max=682.8ms
-  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10534.0ms, max=10534.0ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=14.3ms, max=64.9ms
-  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5055.7ms, max=5055.7ms
-  task_sampling: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
-  task_specific_sample: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=421.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:42:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:42:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:42:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:42:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012296m	[env.py: 870]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75378486  0.95268542  0.01229588] yaw=-159.4deg	[env.py: 1019]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83741553  1.05889708  0.01229588] yaw=-137.0deg	[env.py: 1019]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97982255  0.79855107  0.01229588] yaw=-148.5deg	[env.py: 1019]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms	[env.py: 1075]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.953, 0.012)	[env.py: 1079]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
-05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:42:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:42:49 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:42:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:42:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 91.697[deg]	[grasp_sample.py: 539]
-05/10 23:42:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:42:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:42:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:42:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:43:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:43:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:43:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:43:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:44:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:44:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:44:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:44:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:44:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:44:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.58s (batch: 4.07s, save: 8.52s)	[pipeline.py: 300]
-05/10 23:44:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.92s:
-  episode_total: mean=134.37s, total=537.49s, count=4, min=2319.5ms, max=204250.9ms
-  sensor_polling: mean=521.1ms, total=421.58s, count=809, min=437.4ms, max=883.9ms
-  physics_step: mean=26.4ms, total=21.37s, count=809, min=15.6ms, max=85.3ms
-  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8515.1ms, max=8515.1ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4068.4ms, max=4068.4ms
-  task_sampling: mean=479.7ms, total=1.92s, count=4, min=367.7ms, max=608.4ms
-  task_specific_sample: mean=476.3ms, total=1.91s, count=4, min=364.5ms, max=605.1ms
-  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=476.4us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=20.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:44:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:44:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:44:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:44:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:44:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093443m	[env.py: 870]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8598333   0.1418342   0.09344301] yaw=155.0deg	[env.py: 1019]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70357563  0.11317789  0.09344301] yaw=157.4deg	[env.py: 1019]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07680101  1.19486347  0.09344301] yaw=-129.5deg	[env.py: 1019]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:44:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.142, 0.093)	[env.py: 1079]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg	[env.py: 1082]
-05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:44:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:44:32 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:44:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:44:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 83.298[deg]	[grasp_sample.py: 539]
-05/10 23:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:44:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:44:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:44:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:45:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:45:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:45:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:45:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:45:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.91s (batch: 4.50s, save: 10.41s)	[pipeline.py: 300]
-05/10 23:45:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.92s:
-  episode_total: mean=103.88s, total=207.76s, count=2, min=3471.0ms, max=204292.1ms
-  sensor_polling: mean=507.1ms, total=152.13s, count=300, min=442.0ms, max=766.1ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10409.5ms, max=10409.5ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.7ms, max=85.0ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.7ms, max=4497.7ms
-  task_sampling: mean=460.9ms, total=921.9ms, count=2, min=377.4ms, max=544.5ms
-  task_specific_sample: mean=457.5ms, total=915.0ms, count=2, min=374.6ms, max=540.4ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
-  mj_forward_sync: mean=436.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:45:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:45:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:45:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:45:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:45:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009867m	[env.py: 870]
-05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81369851  1.04613315  0.00986742] yaw=-151.4deg	[env.py: 1019]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75355423  0.29282588  0.00986742] yaw=178.8deg	[env.py: 1019]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:45:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms	[env.py: 1075]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 1.046, 0.010)	[env.py: 1079]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg	[env.py: 1082]
-05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:45:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:45:21 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:45:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.815s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 89.651[deg]	[grasp_sample.py: 539]
-05/10 23:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:45:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:45:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:45:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:45:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:45:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:45:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:45:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.24s (batch: 4.83s, save: 9.41s)	[pipeline.py: 300]
-05/10 23:45:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
-  episode_total: mean=210.06s, total=210.06s, count=1, min=210055.4ms, max=210055.4ms
-  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=449.3ms, max=699.9ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9408.1ms, max=9408.1ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.6ms, max=87.3ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
-  task_sampling: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms
-  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=535.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:46:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:46:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001132m	[env.py: 870]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93106469  0.63508798  0.00113157] yaw=-168.9deg	[env.py: 1019]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78013499  0.2348868   0.00113157] yaw=172.6deg	[env.py: 1019]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00041027  0.88707649  0.00113157] yaw=-145.9deg	[env.py: 1019]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.0ms, total=187.1ms	[env.py: 1075]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.635, 0.001)	[env.py: 1079]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
-05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:46:00 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:46:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:46:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:46:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:46:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:46:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:46:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:46:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 80.008[deg]	[grasp_sample.py: 539]
-05/10 23:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:46:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:46:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:46:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:46:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.13s (batch: 4.37s, save: 11.76s)	[pipeline.py: 300]
-05/10 23:46:17 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=209.05s, total=209.05s, count=1, min=209053.7ms, max=209053.7ms
-  sensor_polling: mean=509.4ms, total=152.82s, count=300, min=447.0ms, max=686.1ms
-  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11759.8ms, max=11759.8ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=18.5ms, max=61.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.2ms, max=4373.2ms
-  task_sampling: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
-  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:46:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:46:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:46:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:46:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:46:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:46:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:46:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010541m	[env.py: 870]
-05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:46:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81118134  0.93145618  0.01054105] yaw=-159.9deg	[env.py: 1019]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85850979  0.6086276   0.01054105] yaw=-172.5deg	[env.py: 1019]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84948499  0.69325964  0.01054105] yaw=-160.7deg	[env.py: 1019]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.5ms, total=270.6ms	[env.py: 1075]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.931, 0.011)	[env.py: 1079]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:46:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:46:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:46:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:46:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:46:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:46:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:46:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.081s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:46:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 82.874[deg]	[grasp_sample.py: 539]
-05/10 23:46:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:46:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:46:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:46:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:46:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:46:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:46:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:46:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:46:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:46:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.642[deg]	[grasp_sample.py: 539]
-05/10 23:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:47:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:47:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:47:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:47:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:47:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:47:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043145m	[env.py: 870]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:47:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05526371  1.15538345  0.04314499] yaw=-124.8deg	[env.py: 1019]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97408154  1.1266294   0.04314499] yaw=-131.7deg	[env.py: 1019]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69478008  0.21991939  0.04314499] yaw=156.3deg	[env.py: 1019]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:47:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms	[env.py: 1075]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.155, 0.043)	[env.py: 1079]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg	[env.py: 1082]
-05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:47:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:47:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:47:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:47:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:47:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:47:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.539[m] 81.900[deg]	[grasp_sample.py: 539]
-05/10 23:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:47:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042869m	[env.py: 870]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1315205   1.20036769  0.04286898] yaw=-132.8deg	[env.py: 1019]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79346096  0.09589438  0.04286898] yaw=160.3deg	[env.py: 1019]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62357485  0.48062353  0.04286898] yaw=179.2deg	[env.py: 1019]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.8ms	[env.py: 1075]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.200, 0.043)	[env.py: 1079]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
-05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:47:08 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:47:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:47:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.795s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:47:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.504[m] 84.813[deg]	[grasp_sample.py: 539]
-05/10 23:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:47:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:47:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063374m	[env.py: 870]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8591719   0.44542569  0.06337356] yaw=176.9deg	[env.py: 1019]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77747043  0.25586804  0.06337356] yaw=154.8deg	[env.py: 1019]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.916519    0.15386701  0.06337356] yaw=159.4deg	[env.py: 1019]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.6ms, total=146.6ms	[env.py: 1075]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.445, 0.063)	[env.py: 1079]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg	[env.py: 1082]
-05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:47:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:47:15 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:47:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.375[m] 88.830[deg]	[grasp_sample.py: 539]
-05/10 23:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:47:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:47:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:47:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:47:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:48:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:48:06 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:48:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:48:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:48:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:48:44 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:48:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:48:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.56s (batch: 4.23s, save: 9.33s)	[pipeline.py: 300]
-05/10 23:48:49 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
-  episode_total: mean=208.71s, total=208.71s, count=1, min=208707.3ms, max=208707.3ms
-  sensor_polling: mean=508.0ms, total=152.39s, count=300, min=442.9ms, max=876.1ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.7ms, max=9325.7ms
-  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.4ms, max=52.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.3ms, max=4234.3ms
-  task_sampling: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
-  task_specific_sample: mean=499.3ms, total=499.3ms, count=1, min=499.3ms, max=499.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:48:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:48:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:48:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:48:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:48:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021834m	[env.py: 870]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00057827  0.86951627  0.02183389] yaw=-155.2deg	[env.py: 1019]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93136324  0.3795399   0.02183389] yaw=179.6deg	[env.py: 1019]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73946959  0.88077389  0.02183389] yaw=-159.4deg	[env.py: 1019]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms	[env.py: 1075]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.870, 0.022)	[env.py: 1079]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
-05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:48:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:48:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:48:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:48:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:48:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:48:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:48:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:48:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.424[deg]	[grasp_sample.py: 539]
-05/10 23:48:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:48:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:48:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:49:09 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:49:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:49:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:49:11 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 23:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:49:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.32s (batch: 4.40s, save: 8.91s)	[pipeline.py: 300]
-05/10 23:49:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
-  episode_total: mean=205.48s, total=205.48s, count=1, min=205483.4ms, max=205483.4ms
-  sensor_polling: mean=525.2ms, total=149.67s, count=285, min=454.3ms, max=878.6ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8914.5ms, max=8914.5ms
-  physics_step: mean=24.9ms, total=7.10s, count=285, min=15.6ms, max=59.0ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.1ms, max=4401.1ms
-  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
-  task_specific_sample: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=564.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:49:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:49:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:49:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021820m	[env.py: 870]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7866459   0.05552389  0.02182031] yaw=152.0deg	[env.py: 1019]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04361112  1.09358995  0.02182031] yaw=-139.2deg	[env.py: 1019]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66489552  0.23432551  0.02182031] yaw=157.8deg	[env.py: 1019]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.2ms, total=348.2ms	[env.py: 1075]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.056, 0.022)	[env.py: 1079]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg	[env.py: 1082]
-05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:49:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:49:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:49:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:49:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:49:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:49:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:49:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.993s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:49:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 88.343[deg]	[grasp_sample.py: 539]
-05/10 23:49:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:49:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:49:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:49:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:49:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:49:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:49:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:49:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:49:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.71s (batch: 4.64s, save: 9.08s)	[pipeline.py: 300]
-05/10 23:49:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.57s:
-  episode_total: mean=211.71s, total=211.71s, count=1, min=211714.7ms, max=211714.7ms
-  sensor_polling: mean=520.2ms, total=156.06s, count=300, min=446.5ms, max=1200.2ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.7ms, max=9077.7ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.6ms, max=91.8ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.3ms, max=4636.3ms
-  task_sampling: mean=571.2ms, total=571.2ms, count=1, min=571.2ms, max=571.2ms
-  task_specific_sample: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:49:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:49:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:49:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093162m	[env.py: 870]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9490438   0.70646371  0.0931621 ] yaw=-172.6deg	[env.py: 1019]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63823696  0.63422802  0.0931621 ] yaw=-162.7deg	[env.py: 1019]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.5ms, total=340.6ms	[env.py: 1075]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.706, 0.093)	[env.py: 1079]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
-05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:49:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:49:54 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:49:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:49:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:49:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 87.614[deg]	[grasp_sample.py: 539]
-05/10 23:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:49:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:49:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:50:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:50:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:50:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:50:29 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 23:50:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:50:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:50:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:50:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:50:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.18s (batch: 4.29s, save: 8.89s)	[pipeline.py: 300]
-05/10 23:50:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:50:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.75s:
-  episode_total: mean=91.69s, total=366.76s, count=4, min=4290.6ms, max=208181.7ms
-  sensor_polling: mean=536.1ms, total=283.61s, count=529, min=450.5ms, max=1092.9ms
-  physics_step: mean=28.8ms, total=15.24s, count=529, min=16.1ms, max=127.9ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8890.9ms, max=8890.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.8ms, max=4293.8ms
-  task_sampling: mean=437.9ms, total=1.75s, count=4, min=386.3ms, max=504.7ms
-  task_specific_sample: mean=434.6ms, total=1.74s, count=4, min=382.7ms, max=500.8ms
-  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=434.5us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:50:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:50:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:50:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:50:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:50:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:50:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:50:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001129m	[env.py: 870]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:50:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93477437  0.68839188  0.00112875] yaw=-169.9deg	[env.py: 1019]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81840535  0.1328861   0.00112875] yaw=152.1deg	[env.py: 1019]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92001577  0.49534052  0.00112875] yaw=-183.1deg	[env.py: 1019]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:50:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms	[env.py: 1075]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.688, 0.001)	[env.py: 1079]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
-05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:50:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:50:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:50:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:50:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:50:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:50:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:50:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:50:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.311[m] 82.200[deg]	[grasp_sample.py: 539]
-05/10 23:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:50:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:50:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:50:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:50:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:50:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:51:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:51:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:51:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:51:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:52:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:52:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:52:08 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/10 23:52:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:52:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:52:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 17.57s (batch: 4.92s, save: 12.65s)	[pipeline.py: 300]
-05/10 23:52:26 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
-  episode_total: mean=214.27s, total=214.27s, count=1, min=214267.8ms, max=214267.8ms
-  sensor_polling: mean=534.1ms, total=159.17s, count=298, min=462.0ms, max=1032.2ms
-  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12651.7ms, max=12651.7ms
-  physics_step: mean=25.6ms, total=7.63s, count=298, min=18.2ms, max=68.9ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
-  task_sampling: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
-  task_specific_sample: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:52:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:52:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089213m	[env.py: 870]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:52:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64136258  0.3843181   0.0892128 ] yaw=167.5deg	[env.py: 1019]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms	[env.py: 1075]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.384, 0.089)	[env.py: 1079]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg	[env.py: 1082]
-05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:52:28 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:52:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:52:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 86.910[deg]	[grasp_sample.py: 539]
-05/10 23:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:52:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:52:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:52:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:52:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:53:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:53:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:53:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:53:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:53:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:53:09 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 23:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:53:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:53:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.59s, save: 9.52s)	[pipeline.py: 300]
-05/10 23:53:15 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.65s:
-  episode_total: mean=227.79s, total=227.79s, count=1, min=227793.6ms, max=227793.6ms
-  sensor_polling: mean=552.8ms, total=165.84s, count=300, min=467.6ms, max=862.6ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.9ms, max=9520.9ms
-  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.0ms, max=119.3ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.2ms, max=4587.2ms
-  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
-  task_specific_sample: mean=645.2ms, total=645.2ms, count=1, min=645.2ms, max=645.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=550.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:53:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:53:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:53:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:53:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:53:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:53:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:53:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014464m	[env.py: 870]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:53:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94476567  0.36109704  0.01446412] yaw=175.0deg	[env.py: 1019]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96003198  0.76849282  0.01446412] yaw=-153.9deg	[env.py: 1019]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74441002  0.70876784  0.01446412] yaw=-160.5deg	[env.py: 1019]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:53:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.5ms	[env.py: 1075]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.361, 0.014)	[env.py: 1079]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.0 deg	[env.py: 1082]
-05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:53:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:53:17 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:53:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:53:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:53:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:53:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:53:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:53:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.327[m] 94.913[deg]	[grasp_sample.py: 539]
-05/10 23:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:53:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:53:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:53:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.67s (batch: 4.66s, save: 12.01s)	[pipeline.py: 300]
-05/10 23:53:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
-  episode_total: mean=213.84s, total=213.84s, count=1, min=213843.8ms, max=213843.8ms
-  sensor_polling: mean=525.7ms, total=155.07s, count=295, min=452.8ms, max=957.7ms
-  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12005.6ms, max=12005.6ms
-  physics_step: mean=26.1ms, total=7.69s, count=295, min=19.7ms, max=85.2ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.1ms, max=4662.1ms
-  task_sampling: mean=634.3ms, total=634.3ms, count=1, min=634.3ms, max=634.3ms
-  task_specific_sample: mean=629.9ms, total=629.9ms, count=1, min=629.9ms, max=629.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=526.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:53:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:53:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:53:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:53:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:53:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074307m	[env.py: 870]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76163275  0.8277262   0.07430687] yaw=-153.1deg	[env.py: 1019]
-05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6437277   0.57630709  0.07430687] yaw=-170.2deg	[env.py: 1019]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73851687  0.58731156  0.07430687] yaw=-178.9deg	[env.py: 1019]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms	[env.py: 1075]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.828, 0.074)	[env.py: 1079]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
-05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:53:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:53:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:53:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:53:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.059[deg]	[grasp_sample.py: 539]
-05/10 23:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:53:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:53:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:53:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:53:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:53:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:53:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:53:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:53:51 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 23:53:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:53:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:54:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:54:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:54:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.02s (batch: 3.99s, save: 8.03s)	[pipeline.py: 300]
-05/10 23:54:03 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
-  episode_total: mean=198.61s, total=198.61s, count=1, min=198612.7ms, max=198612.7ms
-  sensor_polling: mean=544.0ms, total=153.40s, count=282, min=454.3ms, max=1166.6ms
-  physics_step: mean=28.7ms, total=8.09s, count=282, min=16.1ms, max=103.5ms
-  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8029.7ms, max=8029.7ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3994.8ms, max=3994.8ms
-  task_sampling: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms
-  task_specific_sample: mean=493.1ms, total=493.1ms, count=1, min=493.1ms, max=493.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:54:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:54:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:54:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:54:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:54:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:54:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:54:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:54:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076562m	[env.py: 870]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:54:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81203644  0.91616264  0.07656162] yaw=-145.4deg	[env.py: 1019]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:54:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms	[env.py: 1075]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.916, 0.077)	[env.py: 1079]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg	[env.py: 1082]
-05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:54:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:54:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:54:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:54:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:54:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:54:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:54:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.739s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:54:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 96.562[deg]	[grasp_sample.py: 539]
-05/10 23:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:54:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:54:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:54:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:54:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:54:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:54:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:55:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:55:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:55:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:55:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:55:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:55:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:55:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.694[deg]	[grasp_sample.py: 539]
-05/10 23:55:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:55:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:55:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:55:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:55:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:55:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:55:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:55:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:55:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:56:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:56:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:56:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.47s (batch: 4.29s, save: 9.18s)	[pipeline.py: 300]
-05/10 23:56:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
-  episode_total: mean=218.00s, total=218.00s, count=1, min=218002.1ms, max=218002.1ms
-  sensor_polling: mean=538.6ms, total=161.59s, count=300, min=459.3ms, max=1176.5ms
-  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9182.3ms, max=9182.3ms
-  physics_step: mean=28.5ms, total=8.56s, count=300, min=15.7ms, max=189.5ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.1ms, max=4289.1ms
-  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  task_specific_sample: mean=596.4ms, total=596.4ms, count=1, min=596.4ms, max=596.4ms
-  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  mj_forward_sync: mean=748.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:56:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:56:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:56:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:56:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:56:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:56:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:56:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023335m	[env.py: 870]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:56:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86432997  0.84252489  0.02333533] yaw=-164.2deg	[env.py: 1019]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91508099  0.20651396  0.02333533] yaw=160.7deg	[env.py: 1019]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78021082  1.03448981  0.02333533] yaw=-139.8deg	[env.py: 1019]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:56:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms	[env.py: 1075]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.843, 0.023)	[env.py: 1079]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
-05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:56:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:56:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:56:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:56:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:56:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:56:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:56:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 92.481[deg]	[grasp_sample.py: 539]
-05/10 23:56:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:56:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:56:32 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:56:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:56:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 23:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:56:58 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:56:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 23:56:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:57:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:57:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:57:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:57:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.51s (batch: 4.41s, save: 9.09s)	[pipeline.py: 300]
-05/10 23:57:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
-  episode_total: mean=214.63s, total=214.63s, count=1, min=214629.8ms, max=214629.8ms
-  sensor_polling: mean=539.5ms, total=161.86s, count=300, min=442.9ms, max=999.3ms
-  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9090.2ms, max=9090.2ms
-  physics_step: mean=27.8ms, total=8.34s, count=300, min=16.0ms, max=134.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4414.9ms, max=4414.9ms
-  task_sampling: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
-  task_specific_sample: mean=471.3ms, total=471.3ms, count=1, min=471.3ms, max=471.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:57:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:57:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:57:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055161m	[env.py: 870]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09130323  1.17564193  0.05516061] yaw=-136.2deg	[env.py: 1019]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85372511  0.84936624  0.05516061] yaw=-155.6deg	[env.py: 1019]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82104226  0.72308723  0.05516061] yaw=-172.8deg	[env.py: 1019]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:57:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms	[env.py: 1075]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 1.176, 0.055)	[env.py: 1079]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg	[env.py: 1082]
-05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:57:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:57:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:57:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:57:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:57:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:57:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:57:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 83.940[deg]	[grasp_sample.py: 539]
-05/10 23:57:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:57:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:57:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:57:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:57:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:57:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:57:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009972m	[env.py: 870]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:57:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05120359  1.10527368  0.00997175] yaw=-134.0deg	[env.py: 1019]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85872023  0.43926495  0.00997175] yaw=176.5deg	[env.py: 1019]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:57:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.105, 0.010)	[env.py: 1079]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:57:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:57:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:57:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:57:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 94.902[deg]	[grasp_sample.py: 539]
-05/10 23:57:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:57:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:57:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:57:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:57:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.96s (batch: 4.30s, save: 9.66s)	[pipeline.py: 300]
-05/10 23:57:12 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
-  episode_total: mean=235.44s, total=235.44s, count=1, min=235438.0ms, max=235438.0ms
-  sensor_polling: mean=539.5ms, total=161.84s, count=300, min=455.0ms, max=819.4ms
-  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9656.8ms, max=9656.8ms
-  physics_step: mean=29.3ms, total=8.78s, count=300, min=15.6ms, max=111.6ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.7ms, max=4301.7ms
-  task_sampling: mean=659.5ms, total=659.5ms, count=1, min=659.5ms, max=659.5ms
-  task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms
-  mj_forward_sync: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:57:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:57:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:57:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:57:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:57:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:57:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016471m	[env.py: 870]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:57:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11780285  1.02281016  0.01647071] yaw=-132.2deg	[env.py: 1019]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7317327   0.56566006  0.01647071] yaw=-169.9deg	[env.py: 1019]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78838388  0.59263425  0.01647071] yaw=-176.8deg	[env.py: 1019]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:57:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms	[env.py: 1075]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.118, 1.023, 0.016)	[env.py: 1079]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg	[env.py: 1082]
-05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:57:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:57:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:57:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:57:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:57:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 93.607[deg]	[grasp_sample.py: 539]
-05/10 23:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:57:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:57:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:57:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:57:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:57:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 23:57:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:57:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:57:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:57:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.44s (batch: 4.11s, save: 8.33s)	[pipeline.py: 300]
-05/10 23:57:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.63s:
-  episode_total: mean=208.63s, total=208.63s, count=1, min=208626.0ms, max=208626.0ms
-  sensor_polling: mean=535.4ms, total=160.62s, count=300, min=444.3ms, max=902.1ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.4ms, max=8327.4ms
-  physics_step: mean=26.2ms, total=7.86s, count=300, min=15.5ms, max=85.1ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
-  task_sampling: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
-  task_specific_sample: mean=629.6ms, total=629.6ms, count=1, min=629.6ms, max=629.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=414.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:57:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:57:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:57:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:57:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:57:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:57:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067611m	[env.py: 870]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:57:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219757  0.27806194  0.06761106] yaw=163.9deg	[env.py: 1019]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75801984  0.90056949  0.06761106] yaw=-164.5deg	[env.py: 1019]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70948634  0.89620694  0.06761106] yaw=-157.5deg	[env.py: 1019]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.4ms	[env.py: 1075]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.278, 0.068)	[env.py: 1079]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
-05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:57:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:57:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:57:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.347[m] 86.524[deg]	[grasp_sample.py: 539]
-05/10 23:57:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:57:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:57:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:57:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:58:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:58:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 23:58:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:58:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 23:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/10 23:59:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 23:59:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 23:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:59:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.106s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.216[deg]	[grasp_sample.py: 539]
-05/10 23:59:28 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:59:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074021m	[env.py: 870]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71771047  0.2412294   0.07402057] yaw=165.9deg	[env.py: 1019]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79801228  0.88609307  0.07402057] yaw=-158.8deg	[env.py: 1019]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90447118  0.59809941  0.07402057] yaw=-182.3deg	[env.py: 1019]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.3ms	[env.py: 1075]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.241, 0.074)	[env.py: 1079]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
-05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:59:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:59:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.143s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.236s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.586[m] 97.310[deg]	[grasp_sample.py: 539]
-05/10 23:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:59:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:59:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:59:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 23:59:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/10 23:59:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.85s (batch: 5.57s, save: 11.28s)	[pipeline.py: 300]
-05/10 23:59:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.55s:
-  episode_total: mean=211.34s, total=211.34s, count=1, min=211342.5ms, max=211342.5ms
-  sensor_polling: mean=520.9ms, total=156.28s, count=300, min=442.1ms, max=1081.9ms
-  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11275.1ms, max=11275.1ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=14.5ms, max=105.2ms
-  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5574.9ms, max=5574.9ms
-  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  task_specific_sample: mean=547.3ms, total=547.3ms, count=1, min=547.3ms, max=547.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=570.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 23:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:59:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:59:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:59:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071982m	[env.py: 870]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70248301  0.77801871  0.07198168] yaw=-159.2deg	[env.py: 1019]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72346045  0.42004062  0.07198168] yaw=173.0deg	[env.py: 1019]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85461335  0.45520395  0.07198168] yaw=168.1deg	[env.py: 1019]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.0ms	[env.py: 1075]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.778, 0.072)	[env.py: 1079]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
-05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.222[deg]	[grasp_sample.py: 539]
-05/10 23:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:59:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:59:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:59:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089259m	[env.py: 870]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78927458  0.52724267  0.08925889] yaw=-183.5deg	[env.py: 1019]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89538272  0.25831854  0.08925889] yaw=174.4deg	[env.py: 1019]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87299348  0.88731642  0.08925889] yaw=-155.0deg	[env.py: 1019]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms	[env.py: 1075]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.527, 0.089)	[env.py: 1079]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.5 deg	[env.py: 1082]
-05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:59:46 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:59:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 83.776[deg]	[grasp_sample.py: 539]
-05/10 23:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:59:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:59:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 23:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:59:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.716s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.781[deg]	[grasp_sample.py: 539]
-05/10 23:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:55 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 23:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 23:59:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 23:59:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 23:59:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 23:59:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 23:59:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 23:59:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 23:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 23:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006074m	[env.py: 870]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/10 23:59:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 23:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92553085  0.94159055  0.00607405] yaw=-154.5deg	[env.py: 1019]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12153301  1.00999694  0.00607405] yaw=-145.3deg	[env.py: 1019]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8288638   0.67088163  0.00607405] yaw=-167.4deg	[env.py: 1019]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 23:59:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.9ms, total=414.9ms	[env.py: 1075]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.942, 0.006)	[env.py: 1079]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
-05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 23:59:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 23:59:57 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/10 23:59:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 23:59:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 23:59:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 23:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 23:59:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.278s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 23:59:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 88.185[deg]	[grasp_sample.py: 539]
-05/10 23:59:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 23:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 23:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:00:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
-05/11 00:00:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:00:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:00:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:00:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:00:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040598m	[env.py: 870]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92689439  0.95820455  0.04059786] yaw=-153.3deg	[env.py: 1019]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62598674  0.54061215  0.04059786] yaw=-176.8deg	[env.py: 1019]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75258244  0.01379325  0.04059786] yaw=154.3deg	[env.py: 1019]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:00:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.6ms	[env.py: 1075]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.958, 0.041)	[env.py: 1079]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
-05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:00:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:00:05 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:00:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:00:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:00:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:00:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 79.375[deg]	[grasp_sample.py: 539]
-05/11 00:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:00:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:00:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:00:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:01:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:02:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:02:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:02:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:02:49 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:02:53 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:02:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:02:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:03:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:03:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.37s (batch: 4.37s, save: 9.00s)	[pipeline.py: 300]
-05/11 00:03:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:03:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:03:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:03:07 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s:
-  episode_total: mean=164.87s, total=329.73s, count=2, min=112765.7ms, max=216965.6ms
-  sensor_polling: mean=524.1ms, total=244.76s, count=467, min=438.7ms, max=934.2ms
-  physics_step: mean=25.9ms, total=12.07s, count=467, min=16.2ms, max=132.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9001.2ms, max=9001.2ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
-  task_sampling: mean=448.2ms, total=896.4ms, count=2, min=440.6ms, max=455.8ms
-  task_specific_sample: mean=442.0ms, total=884.0ms, count=2, min=432.5ms, max=451.5ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms
-  mj_forward_sync: mean=527.1us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:03:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086124m	[env.py: 870]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88626437  0.87951487  0.08612394] yaw=-148.1deg	[env.py: 1019]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69891733  0.22386451  0.08612394] yaw=172.1deg	[env.py: 1019]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.5ms, total=465.6ms	[env.py: 1075]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.880, 0.086)	[env.py: 1079]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
-05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:03:10 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.473[m] 90.178[deg]	[grasp_sample.py: 539]
-05/11 00:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:03:13 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:03:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:03:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:03:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:03:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:03:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.00s, save: 11.07s)	[pipeline.py: 300]
-05/11 00:03:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.97s:
-  episode_total: mean=108.72s, total=217.43s, count=2, min=3548.4ms, max=213885.7ms
-  sensor_polling: mean=517.1ms, total=155.13s, count=300, min=446.3ms, max=750.4ms
-  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11071.1ms, max=11071.1ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=15.1ms, max=79.1ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.9ms, max=4002.9ms
-  task_sampling: mean=486.8ms, total=973.6ms, count=2, min=473.2ms, max=500.4ms
-  task_specific_sample: mean=482.7ms, total=965.3ms, count=2, min=467.9ms, max=497.4ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.1ms, max=3.3ms
-  mj_forward_sync: mean=521.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:03:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:03:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093836m	[env.py: 870]
-05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93924024  0.17880052  0.09383583] yaw=161.8deg	[env.py: 1019]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.49s (batch: 4.90s, save: 9.58s)	[pipeline.py: 300]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8455813   0.47097903  0.09383583] yaw=178.3deg	[env.py: 1019]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90405564  0.76932554  0.09383583] yaw=-151.6deg	[env.py: 1019]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms	[env.py: 1075]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.179, 0.094)	[env.py: 1079]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg	[env.py: 1082]
-05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:03:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:03:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:03:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:03:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:03:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:03:22 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.63s:
-  episode_total: mean=124.75s, total=374.26s, count=3, min=2540.2ms, max=205718.9ms
-  sensor_polling: mean=512.3ms, total=293.04s, count=572, min=435.7ms, max=1056.0ms
-  physics_step: mean=26.1ms, total=14.96s, count=572, min=15.3ms, max=153.0ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4904.9ms, max=4904.9ms
-  task_sampling: mean=542.1ms, total=1.63s, count=3, min=421.1ms, max=685.5ms
-  task_specific_sample: mean=538.6ms, total=1.62s, count=3, min=418.0ms, max=682.4ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=482.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:03:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:03:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 93.763[deg]	[grasp_sample.py: 539]
-05/11 00:03:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:03:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:03:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:03:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:03:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025034m	[env.py: 870]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86896707  0.60127442  0.02503383] yaw=-172.3deg	[env.py: 1019]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63583555  0.63290091  0.02503383] yaw=-179.0deg	[env.py: 1019]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9255671   0.89699646  0.02503383] yaw=-155.4deg	[env.py: 1019]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:03:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms	[env.py: 1075]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.601, 0.025)	[env.py: 1079]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg	[env.py: 1082]
-05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:03:24 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:03:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:03:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:03:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:03:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:03:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 83.965[deg]	[grasp_sample.py: 539]
-05/11 00:03:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:03:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:03:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:03:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.74s (batch: 4.59s, save: 9.16s)	[pipeline.py: 300]
-05/11 00:03:27 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
-  episode_total: mean=185.81s, total=371.63s, count=2, min=168378.6ms, max=203251.2ms
-  sensor_polling: mean=514.3ms, total=293.15s, count=570, min=437.8ms, max=886.1ms
-  physics_step: mean=24.7ms, total=14.10s, count=570, min=16.6ms, max=82.7ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9156.0ms, max=9156.0ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.8ms, max=4586.8ms
-  task_sampling: mean=452.3ms, total=904.5ms, count=2, min=442.8ms, max=461.7ms
-  task_specific_sample: mean=448.6ms, total=897.2ms, count=2, min=439.3ms, max=457.9ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms
-  mj_forward_sync: mean=441.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:03:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:03:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:03:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015991m	[env.py: 870]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84112973  0.55690103  0.01599141] yaw=-173.3deg	[env.py: 1019]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99002919  0.85209355  0.01599141] yaw=-152.6deg	[env.py: 1019]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:03:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms	[env.py: 1075]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.557, 0.016)	[env.py: 1079]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
-05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:03:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:03:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:03:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:03:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 78.194[deg]	[grasp_sample.py: 539]
-05/11 00:03:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:03:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:03:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:04:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:04:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:04:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:04:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:05:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:05:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:05:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.234s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:05:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.125[deg]	[grasp_sample.py: 539]
-05/11 00:05:23 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:05:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:05:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:05:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009926m	[env.py: 870]
-05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86351947  0.33482369  0.00992606] yaw=158.6deg	[env.py: 1019]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97826632  0.88410955  0.00992606] yaw=-160.3deg	[env.py: 1019]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88567284  0.83558895  0.00992606] yaw=-150.9deg	[env.py: 1019]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=538.2ms, total=538.2ms	[env.py: 1075]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.335, 0.010)	[env.py: 1079]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
-05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:05:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:05:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.201s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:05:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.474[m] 101.918[deg]	[grasp_sample.py: 539]
-05/11 00:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:05:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:05:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:06:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:06:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:06:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:06:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:06:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:06:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:06:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:06:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:06:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:06:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:06:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:06:39 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/11 00:06:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:06:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:06:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.15s (batch: 4.95s, save: 9.20s)	[pipeline.py: 300]
-05/11 00:06:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.78s:
-  episode_total: mean=211.89s, total=211.89s, count=1, min=211893.8ms, max=211893.8ms
-  sensor_polling: mean=535.6ms, total=160.68s, count=300, min=427.1ms, max=1098.6ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
-  physics_step: mean=26.0ms, total=7.81s, count=300, min=17.8ms, max=88.6ms
-  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4951.5ms, max=4951.5ms
-  task_sampling: mean=778.6ms, total=778.6ms, count=1, min=778.6ms, max=778.6ms
-  task_specific_sample: mean=774.2ms, total=774.2ms, count=1, min=774.2ms, max=774.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=546.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:06:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:06:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:06:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:06:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:06:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:06:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:06:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069429m	[env.py: 870]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:06:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64940391  0.46078237  0.06942928] yaw=180.5deg	[env.py: 1019]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69885296  0.14089567  0.06942928] yaw=167.8deg	[env.py: 1019]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74265389  0.84038795  0.06942928] yaw=-152.7deg	[env.py: 1019]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:06:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms	[env.py: 1075]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.461, 0.069)	[env.py: 1079]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg	[env.py: 1082]
-05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:06:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:06:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:06:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:06:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:06:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:06:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:06:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.628[m] 91.473[deg]	[grasp_sample.py: 539]
-05/11 00:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:06:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:06:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:06:46 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:06:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:06:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:06:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:06:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.03s (batch: 4.23s, save: 8.81s)	[pipeline.py: 300]
-05/11 00:06:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s:
-  episode_total: mean=208.34s, total=208.34s, count=1, min=208335.0ms, max=208335.0ms
-  sensor_polling: mean=523.8ms, total=155.56s, count=297, min=442.7ms, max=1078.8ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.5ms, max=8805.5ms
-  physics_step: mean=25.8ms, total=7.67s, count=297, min=16.3ms, max=89.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.4ms, max=4226.4ms
-  task_sampling: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
-  task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=420.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:06:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:06:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:06:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090164m	[env.py: 870]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09864437  1.07171659  0.09016381] yaw=-134.4deg	[env.py: 1019]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64087277  0.75531716  0.09016381] yaw=-166.8deg	[env.py: 1019]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63677412  0.4630348   0.09016381] yaw=172.3deg	[env.py: 1019]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 1.072, 0.090)	[env.py: 1079]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg	[env.py: 1082]
-05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:06:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:06:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:06:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:06:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:06:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:06:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:06:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 85.320[deg]	[grasp_sample.py: 539]
-05/11 00:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:06:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:06:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:06:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:06:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:06:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.23s, save: 8.73s)	[pipeline.py: 300]
-05/11 00:07:00 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
-  episode_total: mean=210.61s, total=210.61s, count=1, min=210608.5ms, max=210608.5ms
-  sensor_polling: mean=533.2ms, total=159.95s, count=300, min=447.6ms, max=1055.4ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8731.7ms, max=8731.7ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.5ms, max=93.8ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4227.4ms, max=4227.4ms
-  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
-  task_specific_sample: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:07:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:07:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:07:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035790m	[env.py: 870]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:07:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92867197  0.57157867  0.0357905 ] yaw=-183.6deg	[env.py: 1019]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06516373  1.07079765  0.0357905 ] yaw=-138.6deg	[env.py: 1019]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91607437  0.11327503  0.0357905 ] yaw=144.2deg	[env.py: 1019]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms	[env.py: 1075]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.572, 0.036)	[env.py: 1079]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.6 deg	[env.py: 1082]
-05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:07:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:07:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:07:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:07:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:07:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:07:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:07:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:07:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.292[m] 82.256[deg]	[grasp_sample.py: 539]
-05/11 00:07:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:07:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:07:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:07:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:07:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:07:57 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:07:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.074[deg]	[grasp_sample.py: 539]
-05/11 00:07:58 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:08:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:08:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:08:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:08:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070279m	[env.py: 870]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86883436  0.16033011  0.07027907] yaw=149.3deg	[env.py: 1019]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64296998  0.7162532   0.07027907] yaw=-160.2deg	[env.py: 1019]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9768745   0.80955307  0.07027907] yaw=-149.6deg	[env.py: 1019]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:08:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms	[env.py: 1075]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.160, 0.070)	[env.py: 1079]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
-05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:08:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:08:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:08:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:08:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:08:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:08:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.457[m] 93.240[deg]	[grasp_sample.py: 539]
-05/11 00:08:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:08:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:08:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:08:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:09:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:09:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:35 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:09:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:09:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:09:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:09:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:09:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:09:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.790s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:09:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.278[deg]	[grasp_sample.py: 539]
-05/11 00:09:38 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:09:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:09:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:09:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:09:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:09:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:09:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:09:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071570m	[env.py: 870]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:09:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85731504  0.14065876  0.07156992] yaw=157.1deg	[env.py: 1019]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80879941  0.02093738  0.07156992] yaw=142.0deg	[env.py: 1019]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96438839  1.08735741  0.07156992] yaw=-131.8deg	[env.py: 1019]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:09:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.141, 0.072)	[env.py: 1079]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
-05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:09:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:09:40 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:09:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:09:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:09:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:09:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:09:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:09:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 97.350[deg]	[grasp_sample.py: 539]
-05/11 00:09:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:09:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:09:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:09:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:09:58 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:09:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:09:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:10:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:10:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:10:11 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/11 00:10:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:10:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:10:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.07s (batch: 4.31s, save: 8.77s)	[pipeline.py: 300]
-05/11 00:10:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.64s:
-  episode_total: mean=209.61s, total=209.61s, count=1, min=209608.9ms, max=209608.9ms
-  sensor_polling: mean=529.5ms, total=158.84s, count=300, min=444.4ms, max=925.0ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8766.2ms, max=8766.2ms
-  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.3ms, max=86.9ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.2ms, max=4308.2ms
-  task_sampling: mean=637.4ms, total=637.4ms, count=1, min=637.4ms, max=637.4ms
-  task_specific_sample: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:10:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:10:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:10:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:10:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057305m	[env.py: 870]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85454749  0.78435141  0.05730464] yaw=-165.7deg	[env.py: 1019]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63991555  0.31565095  0.05730464] yaw=168.4deg	[env.py: 1019]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73269485  0.88432563  0.05730464] yaw=-148.2deg	[env.py: 1019]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms	[env.py: 1075]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.784, 0.057)	[env.py: 1079]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
-05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:10:14 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:10:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:10:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:10:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 91.522[deg]	[grasp_sample.py: 539]
-05/11 00:10:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:10:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:10:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:10:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.68s (batch: 4.32s, save: 8.36s)	[pipeline.py: 300]
-05/11 00:10:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.55s:
-  episode_total: mean=203.42s, total=203.42s, count=1, min=203419.8ms, max=203419.8ms
-  sensor_polling: mean=549.8ms, total=152.83s, count=278, min=456.0ms, max=1028.4ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8361.5ms, max=8361.5ms
-  physics_step: mean=29.0ms, total=8.06s, count=278, min=19.1ms, max=118.3ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.4ms, max=4323.4ms
-  task_sampling: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms
-  task_specific_sample: mean=549.4ms, total=549.4ms, count=1, min=549.4ms, max=549.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:10:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:10:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:10:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:10:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018697m	[env.py: 870]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:10:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:10:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:10:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89170485  0.40465601  0.01869745] yaw=168.3deg	[env.py: 1019]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65008164  0.68341024  0.01869745] yaw=-175.8deg	[env.py: 1019]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00693277  0.8157816   0.01869745] yaw=-151.0deg	[env.py: 1019]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:10:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.2ms	[env.py: 1075]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.405, 0.019)	[env.py: 1079]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
-05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:10:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:10:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:10:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:10:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:10:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:10:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:10:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.221[deg]	[grasp_sample.py: 539]
-05/11 00:10:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:10:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.420[m] 102.240[deg]	[grasp_sample.py: 539]
-05/11 00:10:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:10:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:10:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:10:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:10:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:10:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:10:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:10:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:10:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:10:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030732m	[env.py: 870]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:10:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10912003  1.18666498  0.03073171] yaw=-130.1deg	[env.py: 1019]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10404022  1.05447586  0.03073171] yaw=-130.1deg	[env.py: 1019]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75523852  0.50121558  0.03073171] yaw=-189.0deg	[env.py: 1019]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms	[env.py: 1075]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.187, 0.031)	[env.py: 1079]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg	[env.py: 1082]
-05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:10:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:10:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:10:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:10:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 88.693[deg]	[grasp_sample.py: 539]
-05/11 00:10:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:10:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:10:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:10:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:10:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:11:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:11:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:11:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:12:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:12:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:12:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:12:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:12:06 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.127[deg]	[grasp_sample.py: 539]
-05/11 00:12:07 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:12:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:12:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:12:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:12:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:12:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:12:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:12:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032131m	[env.py: 870]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:12:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88501483  0.22460582  0.03213097] yaw=169.1deg	[env.py: 1019]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91266046  1.05139448  0.03213097] yaw=-139.3deg	[env.py: 1019]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92274396  0.9554116   0.03213097] yaw=-137.5deg	[env.py: 1019]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:12:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms	[env.py: 1075]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.225, 0.032)	[env.py: 1079]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
-05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:12:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:12:10 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:12:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:12:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:12:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:12:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:12:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:12:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.390[m] 84.064[deg]	[grasp_sample.py: 539]
-05/11 00:12:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:12:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:12:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:12:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:12:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:12:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:12:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:12:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.578s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:12:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.104[m] 1.609[deg]	[grasp_sample.py: 539]
-05/11 00:12:46 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:12:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:12:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:12:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035606m	[env.py: 870]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85078243  0.66873947  0.03560574] yaw=-172.4deg	[env.py: 1019]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76226001  0.54167845  0.03560574] yaw=-174.0deg	[env.py: 1019]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77795917  0.45343016  0.03560574] yaw=188.0deg	[env.py: 1019]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.2ms, total=145.2ms	[env.py: 1075]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.669, 0.036)	[env.py: 1079]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
-05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:12:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:12:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:12:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:12:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.644[deg]	[grasp_sample.py: 539]
-05/11 00:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:12:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:12:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:12:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:12:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:13:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:13:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:13:10 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:13:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:13:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:13:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:13:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:13:31 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:13:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:13:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:13:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:13:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:13:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.83s (batch: 4.41s, save: 8.42s)	[pipeline.py: 300]
-05/11 00:13:33 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
-  episode_total: mean=199.13s, total=199.13s, count=1, min=199126.7ms, max=199126.7ms
-  sensor_polling: mean=511.4ms, total=153.42s, count=300, min=449.0ms, max=887.9ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8419.9ms, max=8419.9ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=16.0ms, max=51.5ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.9ms, max=4413.9ms
-  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
-  task_specific_sample: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=462.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:13:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:13:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:13:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:13:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:13:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004134m	[env.py: 870]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62842221  0.5066583   0.00413355] yaw=-171.5deg	[env.py: 1019]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94229332  0.92176437  0.00413355] yaw=-146.5deg	[env.py: 1019]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78415427  0.01158756  0.00413355] yaw=144.1deg	[env.py: 1019]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.2ms, total=127.2ms	[env.py: 1075]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.507, 0.004)	[env.py: 1079]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg	[env.py: 1082]
-05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:13:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:13:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:13:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:13:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:13:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:13:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 84.501[deg]	[grasp_sample.py: 539]
-05/11 00:13:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:13:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:13:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:13:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:13:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:13:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.24s (batch: 4.49s, save: 8.74s)	[pipeline.py: 300]
-05/11 00:13:45 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
-  episode_total: mean=198.41s, total=198.41s, count=1, min=198409.6ms, max=198409.6ms
-  sensor_polling: mean=502.9ms, total=150.87s, count=300, min=446.8ms, max=794.1ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8743.1ms, max=8743.1ms
-  physics_step: mean=25.8ms, total=7.75s, count=300, min=16.0ms, max=53.0ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.8ms, max=4494.8ms
-  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  task_specific_sample: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=441.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:13:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:13:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:13:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:13:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:13:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060902m	[env.py: 870]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82941981  0.00857258  0.06090218] yaw=142.2deg	[env.py: 1019]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10926748  1.06259711  0.06090218] yaw=-137.5deg	[env.py: 1019]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9947586   0.98309959  0.06090218] yaw=-142.4deg	[env.py: 1019]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.5ms	[env.py: 1075]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.009, 0.061)	[env.py: 1079]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.2 deg	[env.py: 1082]
-05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:13:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:13:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:13:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:13:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:13:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.582[m] 95.125[deg]	[grasp_sample.py: 539]
-05/11 00:13:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:13:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:13:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:14:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:14:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:14:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:14:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:14:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.761[deg]	[grasp_sample.py: 539]
-05/11 00:14:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:14:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:14:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:14:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:14:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:15:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:15:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:15:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:15:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:15:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:15:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:15:36 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.786s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:15:36 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.156[deg]	[grasp_sample.py: 539]
-05/11 00:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:15:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:15:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:15:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:15:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:15:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:15:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:15:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.17s (batch: 3.70s, save: 8.47s)	[pipeline.py: 300]
-05/11 00:15:54 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.95s:
-  episode_total: mean=148.96s, total=744.78s, count=5, min=121883.4ms, max=186735.3ms
-  sensor_polling: mean=504.1ms, total=607.40s, count=1205, min=435.7ms, max=989.7ms
-  physics_step: mean=23.6ms, total=28.44s, count=1205, min=16.0ms, max=87.6ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8470.4ms, max=8470.4ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3701.2ms, max=3701.2ms
-  task_sampling: mean=590.2ms, total=2.95s, count=5, min=415.3ms, max=896.1ms
-  task_specific_sample: mean=585.4ms, total=2.93s, count=5, min=411.9ms, max=892.3ms
-  scene_randomize: mean=2.7ms, total=13.7ms, count=5, min=1.2ms, max=6.7ms
-  mj_forward_sync: mean=470.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:15:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:15:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:15:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:15:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049451m	[env.py: 870]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70417083  0.08686773  0.04945128] yaw=164.3deg	[env.py: 1019]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9833753   0.7903258   0.04945128] yaw=-156.0deg	[env.py: 1019]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81234298  0.1782371   0.04945128] yaw=168.8deg	[env.py: 1019]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms	[env.py: 1075]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.087, 0.049)	[env.py: 1079]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
-05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:15:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:15:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:15:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:15:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.652[m] 93.273[deg]	[grasp_sample.py: 539]
-05/11 00:15:59 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:16:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:16:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:16:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061998m	[env.py: 870]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87196158  0.20109995  0.06199841] yaw=166.1deg	[env.py: 1019]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97288001  1.14286431  0.06199841] yaw=-128.1deg	[env.py: 1019]
-05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=318.1ms, total=318.2ms	[env.py: 1075]
-05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.201, 0.062)	[env.py: 1079]
-05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
-05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
-05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:16:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:16:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:16:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:16:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:16:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 95.243[deg]	[grasp_sample.py: 539]
-05/11 00:16:03 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:16:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:16:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:16:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:16:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:16:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:16:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:16:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:16:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.29s (batch: 4.52s, save: 8.77s)	[pipeline.py: 300]
-05/11 00:16:17 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.38s:
-  episode_total: mean=186.40s, total=559.20s, count=3, min=147321.1ms, max=247492.3ms
-  sensor_polling: mean=509.8ms, total=417.01s, count=818, min=439.2ms, max=1095.2ms
-  physics_step: mean=24.8ms, total=20.28s, count=818, min=14.1ms, max=94.3ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8771.1ms, max=8771.1ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
-  task_sampling: mean=458.4ms, total=1.38s, count=3, min=400.3ms, max=503.8ms
-  task_specific_sample: mean=454.9ms, total=1.36s, count=3, min=396.6ms, max=500.4ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=428.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:16:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:16:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013286m	[env.py: 870]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01383251  1.32286384  0.01328606] yaw=-125.2deg	[env.py: 1019]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67374759  0.84359604  0.01328606] yaw=-168.1deg	[env.py: 1019]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07590556  1.26099395  0.01328606] yaw=-129.0deg	[env.py: 1019]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms	[env.py: 1075]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.323, 0.013)	[env.py: 1079]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg	[env.py: 1082]
-05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:16:19 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:16:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:16:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:16:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.568s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 00:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 00:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:16:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095217m	[env.py: 870]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07162109  1.24958402  0.09521713] yaw=-127.1deg	[env.py: 1019]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79476942  0.17797388  0.09521713] yaw=164.4deg	[env.py: 1019]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9157382   0.8270105   0.09521713] yaw=-158.7deg	[env.py: 1019]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.1ms	[env.py: 1075]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.250, 0.095)	[env.py: 1079]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg	[env.py: 1082]
-05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:16:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:16:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:16:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.591[m] 87.299[deg]	[grasp_sample.py: 539]
-05/11 00:16:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:16:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:16:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:16:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:16:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:16:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:16:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:16:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:16:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:16:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.37s (batch: 4.22s, save: 8.15s)	[pipeline.py: 300]
-05/11 00:16:44 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
-  episode_total: mean=189.59s, total=189.59s, count=1, min=189588.5ms, max=189588.5ms
-  sensor_polling: mean=483.2ms, total=144.97s, count=300, min=448.9ms, max=816.6ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8150.9ms, max=8150.9ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=18.4ms, max=35.6ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4215.3ms, max=4215.3ms
-  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
-  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:16:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:16:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031804m	[env.py: 870]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64433095  0.60474055  0.03180382] yaw=-178.1deg	[env.py: 1019]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89454969  0.78861653  0.03180382] yaw=-162.3deg	[env.py: 1019]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76236143  0.55153264  0.03180382] yaw=-175.7deg	[env.py: 1019]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.1ms	[env.py: 1075]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.605, 0.032)	[env.py: 1079]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
-05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:16:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:16:46 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:16:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:16:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:16:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:16:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:16:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 93.514[deg]	[grasp_sample.py: 539]
-05/11 00:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:16:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:16:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:16:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:16:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:16:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:16:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:16:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:17:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:17:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:17:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.37s, save: 8.58s)	[pipeline.py: 300]
-05/11 00:17:01 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
-  episode_total: mean=194.50s, total=194.50s, count=1, min=194503.0ms, max=194503.0ms
-  sensor_polling: mean=493.0ms, total=147.89s, count=300, min=460.2ms, max=878.0ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8584.2ms, max=8584.2ms
-  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.5ms, max=67.4ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.6ms, max=4374.6ms
-  task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms
-  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:17:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:17:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:17:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:17:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:17:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:17:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:17:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032433m	[env.py: 870]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:17:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93064137  0.081307    0.03243307] yaw=156.0deg	[env.py: 1019]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97881197  1.15593387  0.03243307] yaw=-146.9deg	[env.py: 1019]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81505736  0.39898725  0.03243307] yaw=172.5deg	[env.py: 1019]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:17:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.081, 0.032)	[env.py: 1079]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
-05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:17:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:17:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:17:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:17:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:17:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:17:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:17:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:17:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.410[m] 88.452[deg]	[grasp_sample.py: 539]
-05/11 00:17:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:17:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:17:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:17:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:18:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:18:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:18:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.908[deg]	[grasp_sample.py: 539]
-05/11 00:18:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:18:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:18:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:18:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:18:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:18:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:18:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:18:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]	[grasp_sample.py: 539]
-05/11 00:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:18:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:18:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:18:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.666s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 00:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 00:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:18:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:18:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:18:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089492m	[env.py: 870]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74443993  0.39961781  0.08949196] yaw=172.7deg	[env.py: 1019]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89895806  1.22558512  0.08949196] yaw=-126.2deg	[env.py: 1019]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75884892  0.76753317  0.08949196] yaw=-160.7deg	[env.py: 1019]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.8ms	[env.py: 1075]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.400, 0.089)	[env.py: 1079]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
-05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:18:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:18:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:18:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 84.906[deg]	[grasp_sample.py: 539]
-05/11 00:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:18:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:18:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:18:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:18:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:18:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]	[grasp_sample.py: 539]
-05/11 00:18:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:18:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:18:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:18:54 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/11 00:18:54 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:19:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:19:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:19:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.266[deg]	[grasp_sample.py: 539]
-05/11 00:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:19:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:19:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:19:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:19:13 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
-05/11 00:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:19:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:19:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:19:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:19:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:19:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]	[grasp_sample.py: 539]
-05/11 00:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:19:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:19:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.02s (batch: 4.04s, save: 6.98s)	[pipeline.py: 300]
-05/11 00:19:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:19:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.07s:
-  episode_total: mean=103.36s, total=206.71s, count=2, min=3306.8ms, max=203407.1ms
-  sensor_polling: mean=503.4ms, total=125.34s, count=249, min=454.0ms, max=855.4ms
-  save_trajectories: mean=6.98s, total=6.98s, count=1, min=6980.6ms, max=6980.6ms
-  physics_step: mean=23.3ms, total=5.81s, count=249, min=13.2ms, max=40.2ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4036.0ms, max=4036.0ms
-  task_sampling: mean=534.7ms, total=1.07s, count=2, min=462.8ms, max=606.5ms
-  task_specific_sample: mean=531.1ms, total=1.06s, count=2, min=458.9ms, max=603.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:19:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:19:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:19:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:19:26 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:19:26 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:19:26 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
-05/11 00:19:26 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5250.35s
-  House averages:
-  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
-  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
-  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
-  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
-  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
-  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
-  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 00:19:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 00:19:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5250.35s
-  Worker averages:
-  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
-  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
-  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
-  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
-  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
-  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
-  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 00:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 00:19:29 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
-05/11 00:19:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 00:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:19:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:19:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:19:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:19:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:19:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:19:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.393s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:19:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]	[grasp_sample.py: 539]
-05/11 00:19:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:19:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:19:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:19:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:19:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:19:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/11 00:19:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:19:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:19:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:19:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.21s (batch: 4.12s, save: 8.09s)	[pipeline.py: 300]
-05/11 00:19:55 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=189.43s, total=189.43s, count=1, min=189430.5ms, max=189430.5ms
-  sensor_polling: mean=483.8ms, total=145.14s, count=300, min=445.4ms, max=743.5ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8091.4ms, max=8091.4ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.8ms, max=37.5ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.8ms, max=4120.8ms
-  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
-  task_specific_sample: mean=424.6ms, total=424.6ms, count=1, min=424.6ms, max=424.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=443.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:19:57 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:19:57 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:19:57 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
-05/11 00:19:57 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5349.33s
-  House averages:
-  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
-  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
-  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
-  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
-  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
-  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
-  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 00:19:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 00:19:57 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5349.33s
-  Worker averages:
-  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
-  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
-  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
-  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
-  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
-  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
-  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 00:20:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 00:20:00 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
-05/11 00:20:00 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 00:20:08 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:20:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:20:08 INFO: [Worker 0] Preparing episode data: 244 timesteps	[save_utils.py: 278]
-05/11 00:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:20:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:20:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 9.84s (batch: 3.62s, save: 6.22s)	[pipeline.py: 300]
-05/11 00:20:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
-  episode_total: mean=195.32s, total=195.32s, count=1, min=195317.0ms, max=195317.0ms
-  sensor_polling: mean=503.3ms, total=122.29s, count=243, min=447.8ms, max=818.2ms
-  save_trajectories: mean=6.22s, total=6.22s, count=1, min=6222.5ms, max=6222.5ms
-  physics_step: mean=23.1ms, total=5.60s, count=243, min=12.6ms, max=36.4ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.9ms, max=3620.9ms
-  task_sampling: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
-  task_specific_sample: mean=522.7ms, total=522.7ms, count=1, min=522.7ms, max=522.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:20:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:20:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:20:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043930m	[env.py: 870]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91663066  0.44829891  0.04393008] yaw=176.0deg	[env.py: 1019]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92782478  0.40941618  0.04393008] yaw=174.1deg	[env.py: 1019]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76777478  0.43333956  0.04393008] yaw=184.3deg	[env.py: 1019]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms	[env.py: 1075]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.448, 0.044)	[env.py: 1079]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
-05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:20:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:20:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:20:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:20:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 90.816[deg]	[grasp_sample.py: 539]
-05/11 00:20:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:20:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:20:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:20:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:20:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:20:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:20:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:20:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.390s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:20:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.623[deg]	[grasp_sample.py: 539]
-05/11 00:20:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:21:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:21:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:21:40 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:21:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:21:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:21:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:21:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.10s (batch: 4.18s, save: 7.93s)	[pipeline.py: 300]
-05/11 00:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.56s:
-  episode_total: mean=110.36s, total=331.08s, count=3, min=2082.7ms, max=197304.1ms
-  sensor_polling: mean=473.8ms, total=251.11s, count=530, min=433.4ms, max=971.4ms
-  physics_step: mean=22.4ms, total=11.85s, count=530, min=14.1ms, max=62.1ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7928.1ms, max=7928.1ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.1ms, max=4176.1ms
-  task_sampling: mean=518.4ms, total=1.56s, count=3, min=383.8ms, max=668.5ms
-  task_specific_sample: mean=515.1ms, total=1.55s, count=3, min=379.9ms, max=665.4ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=436.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:21:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:21:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:21:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:21:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:21:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:21:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:21:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:21:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:21:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:21:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:21:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054893m	[env.py: 870]
-05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:21:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80740238  0.49292804  0.05489308] yaw=-181.1deg	[env.py: 1019]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74997077  0.8489766   0.05489308] yaw=-156.1deg	[env.py: 1019]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05290098  1.23716377  0.05489308] yaw=-133.3deg	[env.py: 1019]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:21:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms	[env.py: 1075]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.493, 0.055)	[env.py: 1079]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg	[env.py: 1082]
-05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:21:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:21:55 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:21:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:21:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:21:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:21:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:21:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:21:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.694[deg]	[grasp_sample.py: 539]
-05/11 00:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:21:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.646s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:21:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.539[deg]	[grasp_sample.py: 539]
-05/11 00:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:22:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:22:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:23:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:23:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:23:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:23:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 5.001s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:23:07 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.574[deg]	[grasp_sample.py: 539]
-05/11 00:23:09 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:23:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:23:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:23:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:23:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:23:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:23:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:23:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005371m	[env.py: 870]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:23:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.128627    1.02231112  0.00537099] yaw=-134.7deg	[env.py: 1019]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82425605  0.46446219  0.00537099] yaw=178.3deg	[env.py: 1019]
-05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97660783  0.84707616  0.00537099] yaw=-151.1deg	[env.py: 1019]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms	[env.py: 1075]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.022, 0.005)	[env.py: 1079]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
-05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:23:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:23:12 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:23:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:23:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:23:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:23:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 98.149[deg]	[grasp_sample.py: 539]
-05/11 00:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:23:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:24:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:24:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:24:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:25:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:25:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:25:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:25:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:25:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:25:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.34s (batch: 4.06s, save: 9.28s)	[pipeline.py: 300]
-05/11 00:25:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
-  episode_total: mean=201.22s, total=201.22s, count=1, min=201217.3ms, max=201217.3ms
-  sensor_polling: mean=490.1ms, total=147.03s, count=300, min=431.1ms, max=817.7ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9279.8ms, max=9279.8ms
-  physics_step: mean=23.3ms, total=6.98s, count=300, min=18.2ms, max=63.0ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.8ms, max=4060.8ms
-  task_sampling: mean=489.7ms, total=489.7ms, count=1, min=489.7ms, max=489.7ms
-  task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=436.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:25:17 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:25:17 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:25:17 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
-05/11 00:25:17 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5856.09s
-  House averages:
-  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
-  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
-  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
-  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
-  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
-  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
-  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 00:25:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 00:25:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5856.09s
-  Worker averages:
-  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
-  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
-  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
-  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
-  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
-  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
-  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 00:25:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 00:25:20 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
-05/11 00:25:20 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 00:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:25:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:25:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:25:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:25:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.313[deg]	[grasp_sample.py: 539]
-05/11 00:25:45 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:25:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:25:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037244m	[env.py: 870]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78373324  0.23722014  0.03724358] yaw=156.3deg	[env.py: 1019]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75729493  0.1657867   0.03724358] yaw=171.4deg	[env.py: 1019]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69211738  0.3782578   0.03724358] yaw=170.4deg	[env.py: 1019]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.7ms	[env.py: 1075]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.237, 0.037)	[env.py: 1079]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg	[env.py: 1082]
-05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:25:48 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:25:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:25:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.491[m] 83.767[deg]	[grasp_sample.py: 539]
-05/11 00:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:25:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:26:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:26:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:26:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:28:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:28:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:28:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:28:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:28:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:28:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.199[deg]	[grasp_sample.py: 539]
-05/11 00:28:22 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:28:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:28:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:28:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:28:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040236m	[env.py: 870]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05873521  0.95409354  0.04023558] yaw=-141.0deg	[env.py: 1019]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79465555  0.69790454  0.04023558] yaw=-165.6deg	[env.py: 1019]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08199218  0.92350861  0.04023558] yaw=-145.1deg	[env.py: 1019]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:28:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms	[env.py: 1075]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 0.954, 0.040)	[env.py: 1079]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:28:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:28:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:28:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:28:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:28:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:28:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:28:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.645s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:28:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 80.802[deg]	[grasp_sample.py: 539]
-05/11 00:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:28:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:28:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:28:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:29:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:29:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:30:48 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:31:10 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
-05/11 00:31:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:31:10 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/11 00:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:31:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
-05/11 00:31:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.03s (batch: 3.79s, save: 8.24s)	[pipeline.py: 300]
-05/11 00:31:23 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.96s:
-  episode_total: mean=164.43s, total=657.73s, count=4, min=153836.6ms, max=179299.6ms
-  sensor_polling: mean=468.8ms, total=526.01s, count=1122, min=406.6ms, max=1062.9ms
-  physics_step: mean=21.7ms, total=24.30s, count=1122, min=13.3ms, max=73.6ms
-  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8241.0ms, max=8241.0ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.4ms, max=3791.4ms
-  task_sampling: mean=491.0ms, total=1.96s, count=4, min=348.0ms, max=629.2ms
-  task_specific_sample: mean=487.2ms, total=1.95s, count=4, min=344.8ms, max=624.8ms
-  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=469.7us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:31:24 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:31:24 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
-05/11 00:31:24 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
-05/11 00:31:24 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6562.01s
-  House averages:
-  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
-  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
-  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
-  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
-  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
-  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
-  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 00:31:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 00:31:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6562.01s
-  Worker averages:
-  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
-  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
-  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
-  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
-  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
-  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
-  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 00:31:27 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 00:31:27 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
-05/11 00:31:27 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_011/shard_1_of_4.log b/fridge_7/chunk_011/shard_1_of_4.log
deleted file mode 100644
index 0742e6ea88c79c83b900d7fa2c1f5aeb2be1f684..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_011/shard_1_of_4.log
+++ /dev/null
@@ -1,1775 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
-  shard=1/4  seed=21101  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 23:31:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 23:31:25 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 23:31:25 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c9013a26b10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21101,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 23:31:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 23:31:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 136958245300112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136958245300112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 136958245300112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 136958245300112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 136958249074192 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136958249074192 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136958249073488 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136958249073488 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136958249073488 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136958249073488 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136958249074192 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136958249074192 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136958249390928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136958249390928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 136958249397328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136958249397328 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 136958249397328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 136958249397328 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 136958249390928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 136958249390928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 589ccb05d6a0 at 0x7c90139c5cd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 589ccb05eff0 at 0x7c9013f31150>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 589ccb05eff0 at 0x7c9013ebd250>
-[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060578m
-[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82021128  0.46485451  0.06057821] yaw=172.8deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70555294  0.56070272  0.06057821] yaw=-182.6deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86486561  0.11360192  0.06057821] yaw=159.2deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=13.5ms, retries=208.7ms, total=222.2ms
-[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.465, 0.061)
-[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:31:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.229s
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.427[m] 88.646[deg]
-[05/10 23:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:32:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:34:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 23:35:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:35:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:35:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 23:35:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.19s (batch: 3.64s, save: 10.54s)
-[05/10 23:35:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.40s:
-  episode_total: mean=241.55s, total=241.55s, count=1, min=241545.7ms, max=241545.7ms
-  sensor_polling: mean=520.7ms, total=156.21s, count=300, min=439.5ms, max=910.8ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10544.3ms, max=10544.3ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=16.5ms, max=85.4ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.0ms, max=3641.0ms
-  task_sampling: mean=3.40s, total=3.40s, count=1, min=3400.4ms, max=3400.4ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=44.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:35:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:35:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/10 23:35:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:35:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:35:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047841m
-[05/10 23:35:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:35:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:35:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:35:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01846892  1.08348091  0.04784074] yaw=-138.2deg
-[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94987756  0.18479586  0.04784074] yaw=162.8deg
-[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80033165  1.09570119  0.04784074] yaw=-149.7deg
-[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:35:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:35:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms
-[05/10 23:35:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.083, 0.048)
-[05/10 23:35:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg
-[05/10 23:35:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:35:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 23:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/10 23:35:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:35:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:35:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.708s, found feasible grasp: True
-[05/10 23:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.930[deg]
-[05/10 23:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:36:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:36:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:38:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 23:38:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
-[05/10 23:38:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.407[deg]
-[05/10 23:38:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:38:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:38:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 23:38:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:38:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:38:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093436m
-[05/10 23:38:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:38:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:38:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73260005  0.8442576   0.09343575] yaw=-163.0deg
-[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90980662  0.59657406  0.09343575] yaw=-177.1deg
-[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92869004  1.19150309  0.09343575] yaw=-144.9deg
-[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:38:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:38:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms
-[05/10 23:38:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.844, 0.093)
-[05/10 23:38:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg
-[05/10 23:38:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.035m
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:38:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 23:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 23:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/10 23:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.849s, found feasible grasp: True
-[05/10 23:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 86.381[deg]
-[05/10 23:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:41:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:41:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:41:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:41:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:41:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:41:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:41:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.37s (batch: 5.27s, save: 10.10s)
-[05/10 23:41:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.94s:
-  episode_total: mean=188.62s, total=377.25s, count=2, min=171302.7ms, max=205943.5ms
-  sensor_polling: mean=517.8ms, total=301.34s, count=582, min=436.6ms, max=927.4ms
-  physics_step: mean=25.7ms, total=14.94s, count=582, min=16.3ms, max=140.9ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10095.8ms, max=10095.8ms
-  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5269.7ms, max=5269.7ms
-  task_sampling: mean=470.9ms, total=941.9ms, count=2, min=446.0ms, max=495.8ms
-  task_specific_sample: mean=467.5ms, total=935.0ms, count=2, min=442.1ms, max=492.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=409.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 23:41:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:41:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:41:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/10 23:41:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:41:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:41:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041823m
-[05/10 23:41:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:41:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:41:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17183616  1.14655706  0.04182274] yaw=-119.4deg
-[05/10 23:41:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:41:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98990909  0.88163744  0.04182274] yaw=-146.5deg
-[05/10 23:41:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:41:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99373074  0.11898655  0.04182274] yaw=161.1deg
-[05/10 23:41:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:41:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:41:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms
-[05/10 23:41:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.147, 0.042)
-[05/10 23:41:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.4 deg
-[05/10 23:41:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.850m
-[05/10 23:41:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:41:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 23:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/10 23:41:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:41:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:41:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 23:41:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
-[05/10 23:41:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.781[deg]
-[05/10 23:41:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:41:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:41:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:41:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/10 23:41:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:41:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:41:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020075m
-[05/10 23:41:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:41:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:41:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86758419  0.84399913  0.02007452] yaw=-149.2deg
-[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67631784  0.66575459  0.02007452] yaw=-158.7deg
-[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66726536  0.45107961  0.02007452] yaw=177.1deg
-[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:41:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:41:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.4ms
-[05/10 23:41:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.844, 0.020)
-[05/10 23:41:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg
-[05/10 23:41:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
-[05/10 23:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:41:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 23:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/10 23:41:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:41:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:41:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/10 23:41:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True
-[05/10 23:41:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.472[m] 85.760[deg]
-[05/10 23:41:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:43:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:44:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:45:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:45:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:45:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:45:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:45:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:45:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.91s (batch: 4.50s, save: 10.41s)
-[05/10 23:45:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.92s:
-  episode_total: mean=103.88s, total=207.76s, count=2, min=3471.0ms, max=204292.1ms
-  sensor_polling: mean=507.1ms, total=152.13s, count=300, min=442.0ms, max=766.1ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10409.5ms, max=10409.5ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.7ms, max=85.0ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.7ms, max=4497.7ms
-  task_sampling: mean=460.9ms, total=921.9ms, count=2, min=377.4ms, max=544.5ms
-  task_specific_sample: mean=457.5ms, total=915.0ms, count=2, min=374.6ms, max=540.4ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
-  mj_forward_sync: mean=436.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/10 23:45:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:45:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:45:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:45:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:45:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:45:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:45:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 23:45:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:45:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:45:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009867m
-[05/10 23:45:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:45:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:45:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:45:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81369851  1.04613315  0.00986742] yaw=-151.4deg
-[05/10 23:45:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:45:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75355423  0.29282588  0.00986742] yaw=178.8deg
-[05/10 23:45:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:45:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:45:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms
-[05/10 23:45:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.814, 1.046, 0.010)
-[05/10 23:45:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg
-[05/10 23:45:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
-[05/10 23:45:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:45:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:45:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:45:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:45:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:45:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 23:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/10 23:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/10 23:45:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.815s, found feasible grasp: True
-[05/10 23:45:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.656[m] 89.651[deg]
-[05/10 23:45:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:48:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:48:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:48:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:48:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:48:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:48:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:48:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.56s (batch: 4.23s, save: 9.33s)
-[05/10 23:48:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
-  episode_total: mean=208.71s, total=208.71s, count=1, min=208707.3ms, max=208707.3ms
-  sensor_polling: mean=508.0ms, total=152.39s, count=300, min=442.9ms, max=876.1ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.7ms, max=9325.7ms
-  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.4ms, max=52.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.3ms, max=4234.3ms
-  task_sampling: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
-  task_specific_sample: mean=499.3ms, total=499.3ms, count=1, min=499.3ms, max=499.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:48:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:48:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:48:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:48:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:48:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:48:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:48:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 23:48:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:48:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:48:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021834m
-[05/10 23:48:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:48:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:48:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:48:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:48:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:48:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00057827  0.86951627  0.02183389] yaw=-155.2deg
-[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93136324  0.3795399   0.02183389] yaw=179.6deg
-[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73946959  0.88077389  0.02183389] yaw=-159.4deg
-[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:48:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:48:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms
-[05/10 23:48:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.870, 0.022)
-[05/10 23:48:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
-[05/10 23:48:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/10 23:48:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:48:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:48:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:48:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:48:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:48:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 23:48:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.145s
-[05/10 23:48:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:48:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:48:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 23:48:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
-[05/10 23:48:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.424[deg]
-[05/10 23:48:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:49:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:51:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:52:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:52:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:52:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps
-[05/10 23:52:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:52:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:52:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 17.57s (batch: 4.92s, save: 12.65s)
-[05/10 23:52:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
-  episode_total: mean=214.27s, total=214.27s, count=1, min=214267.8ms, max=214267.8ms
-  sensor_polling: mean=534.1ms, total=159.17s, count=298, min=462.0ms, max=1032.2ms
-  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12651.7ms, max=12651.7ms
-  physics_step: mean=25.6ms, total=7.63s, count=298, min=18.2ms, max=68.9ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
-  task_sampling: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
-  task_specific_sample: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:52:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 23:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089213m
-[05/10 23:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:52:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64136258  0.3843181   0.0892128 ] yaw=167.5deg
-[05/10 23:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms
-[05/10 23:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.384, 0.089)
-[05/10 23:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg
-[05/10 23:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 23:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/10 23:52:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:52:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/10 23:52:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
-[05/10 23:52:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.605[m] 86.910[deg]
-[05/10 23:52:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:53:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:55:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:55:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:55:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:55:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:56:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:56:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:56:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.47s (batch: 4.29s, save: 9.18s)
-[05/10 23:56:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
-  episode_total: mean=218.00s, total=218.00s, count=1, min=218002.1ms, max=218002.1ms
-  sensor_polling: mean=538.6ms, total=161.59s, count=300, min=459.3ms, max=1176.5ms
-  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9182.3ms, max=9182.3ms
-  physics_step: mean=28.5ms, total=8.56s, count=300, min=15.7ms, max=189.5ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.1ms, max=4289.1ms
-  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  task_specific_sample: mean=596.4ms, total=596.4ms, count=1, min=596.4ms, max=596.4ms
-  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  mj_forward_sync: mean=748.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:56:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:56:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:56:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/10 23:56:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:56:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:56:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023335m
-[05/10 23:56:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:56:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:56:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86432997  0.84252489  0.02333533] yaw=-164.2deg
-[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:56:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:56:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91508099  0.20651396  0.02333533] yaw=160.7deg
-[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78021082  1.03448981  0.02333533] yaw=-139.8deg
-[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:56:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:56:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms
-[05/10 23:56:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.843, 0.023)
-[05/10 23:56:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg
-[05/10 23:56:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:56:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:56:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 23:56:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s
-[05/10 23:56:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:56:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:56:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps
-[05/10 23:56:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True
-[05/10 23:56:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.502[m] 92.481[deg]
-[05/10 23:56:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:57:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:58:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:59:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:59:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/10 23:59:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:59:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:59:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:59:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.85s (batch: 5.57s, save: 11.28s)
-[05/10 23:59:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.55s:
-  episode_total: mean=211.34s, total=211.34s, count=1, min=211342.5ms, max=211342.5ms
-  sensor_polling: mean=520.9ms, total=156.28s, count=300, min=442.1ms, max=1081.9ms
-  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11275.1ms, max=11275.1ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=14.5ms, max=105.2ms
-  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5574.9ms, max=5574.9ms
-  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  task_specific_sample: mean=547.3ms, total=547.3ms, count=1, min=547.3ms, max=547.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=570.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:59:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:59:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/10 23:59:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:59:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:59:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071982m
-[05/10 23:59:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:59:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:59:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70248301  0.77801871  0.07198168] yaw=-159.2deg
-[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72346045  0.42004062  0.07198168] yaw=173.0deg
-[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85461335  0.45520395  0.07198168] yaw=168.1deg
-[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.0ms
-[05/10 23:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.778, 0.072)
-[05/10 23:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg
-[05/10 23:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/10 23:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/10 23:59:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
-[05/10 23:59:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.222[deg]
-[05/10 23:59:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:59:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:59:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/10 23:59:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:59:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:59:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089259m
-[05/10 23:59:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:59:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:59:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78927458  0.52724267  0.08925889] yaw=-183.5deg
-[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89538272  0.25831854  0.08925889] yaw=174.4deg
-[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87299348  0.88731642  0.08925889] yaw=-155.0deg
-[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:59:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:59:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms
-[05/10 23:59:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.527, 0.089)
-[05/10 23:59:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.5 deg
-[05/10 23:59:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:59:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 23:59:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/10 23:59:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True
-[05/10 23:59:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.455[m] 83.776[deg]
-[05/10 23:59:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:00:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:02:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:03:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/11 00:03:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:03:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:03:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.00s, save: 11.07s)
-[05/11 00:03:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.97s:
-  episode_total: mean=108.72s, total=217.43s, count=2, min=3548.4ms, max=213885.7ms
-  sensor_polling: mean=517.1ms, total=155.13s, count=300, min=446.3ms, max=750.4ms
-  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11071.1ms, max=11071.1ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=15.1ms, max=79.1ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.9ms, max=4002.9ms
-  task_sampling: mean=486.8ms, total=973.6ms, count=2, min=473.2ms, max=500.4ms
-  task_specific_sample: mean=482.7ms, total=965.3ms, count=2, min=467.9ms, max=497.4ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.1ms, max=3.3ms
-  mj_forward_sync: mean=521.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:03:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:03:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:03:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 00:03:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:03:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:03:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093836m
-[05/11 00:03:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:03:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:03:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93924024  0.17880052  0.09383583] yaw=161.8deg
-[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8455813   0.47097903  0.09383583] yaw=178.3deg
-[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90405564  0.76932554  0.09383583] yaw=-151.6deg
-[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:03:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:03:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms
-[05/11 00:03:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.179, 0.094)
-[05/11 00:03:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg
-[05/11 00:03:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
-[05/11 00:03:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:03:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 00:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 00:03:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:03:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:03:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 00:03:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True
-[05/11 00:03:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 93.763[deg]
-[05/11 00:03:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:05:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:05:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:05:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:05:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:05:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps
-[05/11 00:05:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.234s, found feasible grasp: True
-[05/11 00:05:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.125[deg]
-[05/11 00:05:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:05:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:05:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:05:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:05:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:05:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:05:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:05:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 00:05:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:05:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:05:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009926m
-[05/11 00:05:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:05:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:05:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86351947  0.33482369  0.00992606] yaw=158.6deg
-[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97826632  0.88410955  0.00992606] yaw=-160.3deg
-[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88567284  0.83558895  0.00992606] yaw=-150.9deg
-[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=538.2ms, total=538.2ms
-[05/11 00:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.335, 0.010)
-[05/11 00:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg
-[05/11 00:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
-[05/11 00:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:05:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:05:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 00:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.115s
-[05/11 00:05:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:05:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:05:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 00:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.201s, found feasible grasp: True
-[05/11 00:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.474[m] 101.918[deg]
-[05/11 00:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:05:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:05:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:06:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:07:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:07:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:07:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:07:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps
-[05/11 00:07:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True
-[05/11 00:07:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.074[deg]
-[05/11 00:07:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:08:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:08:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:08:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/11 00:08:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:08:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:08:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070279m
-[05/11 00:08:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:08:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:08:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86883436  0.16033011  0.07027907] yaw=149.3deg
-[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64296998  0.7162532   0.07027907] yaw=-160.2deg
-[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9768745   0.80955307  0.07027907] yaw=-149.6deg
-[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:08:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:08:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms
-[05/11 00:08:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.160, 0.070)
-[05/11 00:08:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg
-[05/11 00:08:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:08:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:08:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:08:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 00:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.117s
-[05/11 00:08:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:08:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:08:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/11 00:08:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
-[05/11 00:08:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.457[m] 93.240[deg]
-[05/11 00:08:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:10:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:10:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:10:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.221[deg]
-[05/11 00:10:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:10:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:10:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/11 00:10:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:10:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:10:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030732m
-[05/11 00:10:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:10:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:10:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10912003  1.18666498  0.03073171] yaw=-130.1deg
-[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10404022  1.05447586  0.03073171] yaw=-130.1deg
-[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75523852  0.50121558  0.03073171] yaw=-189.0deg
-[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:10:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:10:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms
-[05/11 00:10:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.187, 0.031)
-[05/11 00:10:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg
-[05/11 00:10:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:10:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 00:10:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/11 00:10:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:10:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:10:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:10:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
-[05/11 00:10:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.508[m] 88.693[deg]
-[05/11 00:10:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:11:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:12:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:12:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:12:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:12:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:12:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:12:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:12:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/11 00:12:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.578s, found feasible grasp: True
-[05/11 00:12:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.104[m] 1.609[deg]
-[05/11 00:12:46 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:12:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:12:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:12:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/11 00:12:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:12:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:12:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035606m
-[05/11 00:12:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:12:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:12:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:12:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85078243  0.66873947  0.03560574] yaw=-172.4deg
-[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76226001  0.54167845  0.03560574] yaw=-174.0deg
-[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77795917  0.45343016  0.03560574] yaw=188.0deg
-[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:12:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:12:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.2ms, total=145.2ms
-[05/11 00:12:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.669, 0.036)
-[05/11 00:12:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg
-[05/11 00:12:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:12:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 00:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
-[05/11 00:12:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:12:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:12:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/11 00:12:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/11 00:12:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.644[deg]
-[05/11 00:12:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:13:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:15:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:15:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:15:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/11 00:15:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:15:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:15:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:15:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.17s (batch: 3.70s, save: 8.47s)
-[05/11 00:15:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=2.95s:
-  episode_total: mean=148.96s, total=744.78s, count=5, min=121883.4ms, max=186735.3ms
-  sensor_polling: mean=504.1ms, total=607.40s, count=1205, min=435.7ms, max=989.7ms
-  physics_step: mean=23.6ms, total=28.44s, count=1205, min=16.0ms, max=87.6ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8470.4ms, max=8470.4ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3701.2ms, max=3701.2ms
-  task_sampling: mean=590.2ms, total=2.95s, count=5, min=415.3ms, max=896.1ms
-  task_specific_sample: mean=585.4ms, total=2.93s, count=5, min=411.9ms, max=892.3ms
-  scene_randomize: mean=2.7ms, total=13.7ms, count=5, min=1.2ms, max=6.7ms
-  mj_forward_sync: mean=470.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/11 00:15:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:15:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:15:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/11 00:15:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:15:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:15:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049451m
-[05/11 00:15:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:15:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:15:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70417083  0.08686773  0.04945128] yaw=164.3deg
-[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9833753   0.7903258   0.04945128] yaw=-156.0deg
-[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81234298  0.1782371   0.04945128] yaw=168.8deg
-[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:15:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:15:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms
-[05/11 00:15:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.087, 0.049)
-[05/11 00:15:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
-[05/11 00:15:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:15:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:15:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 00:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 00:15:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:15:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:15:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:15:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True
-[05/11 00:15:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.652[m] 93.273[deg]
-[05/11 00:15:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:16:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:16:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:16:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/11 00:16:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:16:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:16:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061998m
-[05/11 00:16:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:16:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:16:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:16:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87196158  0.20109995  0.06199841] yaw=166.1deg
-[05/11 00:16:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97288001  1.14286431  0.06199841] yaw=-128.1deg
-[05/11 00:16:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:16:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:16:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=318.1ms, total=318.2ms
-[05/11 00:16:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.201, 0.062)
-[05/11 00:16:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
-[05/11 00:16:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m
-[05/11 00:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:16:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 00:16:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/11 00:16:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:16:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:16:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 00:16:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True
-[05/11 00:16:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.428[m] 95.243[deg]
-[05/11 00:16:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:16:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:16:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:18:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:18:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:18:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
-[05/11 00:18:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True
-[05/11 00:18:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.908[deg]
-[05/11 00:18:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:18:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:18:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 00:18:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:18:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:18:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/11 00:18:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.439s, found feasible grasp: True
-[05/11 00:18:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]
-[05/11 00:18:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 00:18:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:18:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:18:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/11 00:18:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.436s, found feasible grasp: True
-[05/11 00:18:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]
-[05/11 00:18:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:18:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/11 00:18:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:19:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:19:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
-[05/11 00:19:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 250 timesteps
-[05/11 00:19:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:19:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:19:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 11.02s (batch: 4.04s, save: 6.98s)
-[05/11 00:19:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.07s:
-  episode_total: mean=103.36s, total=206.71s, count=2, min=3306.8ms, max=203407.1ms
-  sensor_polling: mean=503.4ms, total=125.34s, count=249, min=454.0ms, max=855.4ms
-  save_trajectories: mean=6.98s, total=6.98s, count=1, min=6980.6ms, max=6980.6ms
-  physics_step: mean=23.3ms, total=5.81s, count=249, min=13.2ms, max=40.2ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4036.0ms, max=4036.0ms
-  task_sampling: mean=534.7ms, total=1.07s, count=2, min=462.8ms, max=606.5ms
-  task_specific_sample: mean=531.1ms, total=1.06s, count=2, min=458.9ms, max=603.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:19:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:19:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:19:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes
-[05/11 00:19:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5250.35s
-  House averages:
-  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
-  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
-  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
-  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
-  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
-  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
-  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:19:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 00:19:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5250.35s
-  Worker averages:
-  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
-  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
-  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
-  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
-  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
-  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
-  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
-  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
-  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
-  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
-  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
-  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
-  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
-  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
-  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
-  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:19:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 00:19:29 INFO pipeline.py:1491] Success count: 10, Total count: 10
-[05/11 00:19:29 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
-==========================================
diff --git a/fridge_7/chunk_011/shard_2_of_4.log b/fridge_7/chunk_011/shard_2_of_4.log
deleted file mode 100644
index 9c0692234ef75a763a89919ca672dad908a39c64..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_011/shard_2_of_4.log
+++ /dev/null
@@ -1,1831 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
-  shard=2/4  seed=21102  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:26 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 23:31:26 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 23:31:26 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 23:31:26 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x76b1b3d2ba10>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21102,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 23:31:26 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 23:31:26 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130505593498768 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130505593498768 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130505593498768 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130505593498768 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130505595042896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130505595042896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130505595034000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130505595034000 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130505595034000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130505595034000 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130505595042896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130505595042896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130505593603152 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130505593603152 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130505593615184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130505593615184 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130505593615184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130505593615184 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130505593603152 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130505593603152 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 23:31:26 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5e95fb1d62d0 at 0x76b1b4159150>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e95fb203e70 at 0x76b1b3cc6b90>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e95fb203e70 at 0x76b1b40e7b50>
-[05/10 23:31:29 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/10 23:31:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:31:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:31:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032647m
-[05/10 23:31:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:31:29 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 23:31:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07190192  0.93407676  0.03264666] yaw=-139.2deg
-[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8479343   0.52194309  0.03264666] yaw=-188.2deg
-[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89833318  0.61992776  0.03264666] yaw=-169.8deg
-[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:31:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:31:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=192.9ms, total=207.2ms
-[05/10 23:31:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.934, 0.033)
-[05/10 23:31:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg
-[05/10 23:31:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:31:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 23:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.424s
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
-[05/10 23:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.391[m] 97.645[deg]
-[05/10 23:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:34:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 23:35:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:35:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:35:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 23:35:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.81s, save: 9.29s)
-[05/10 23:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.44s:
-  episode_total: mean=234.93s, total=234.93s, count=1, min=234931.6ms, max=234931.6ms
-  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=440.0ms, max=957.5ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.7ms, max=9292.7ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=16.6ms, max=122.0ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4812.4ms, max=4812.4ms
-  task_sampling: mean=3.44s, total=3.44s, count=1, min=3442.1ms, max=3442.1ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  task_specific_sample: mean=478.2ms, total=478.2ms, count=1, min=478.2ms, max=478.2ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:35:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:35:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/10 23:35:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:35:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:35:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073252m
-[05/10 23:35:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:35:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:35:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82891724  0.27872446  0.07325219] yaw=169.2deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093827  1.1277145   0.07325219] yaw=-128.0deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85072032  0.07397582  0.07325219] yaw=155.0deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.3ms, total=131.4ms
-[05/10 23:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.279, 0.073)
-[05/10 23:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 23:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.135s
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/10 23:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
-[05/10 23:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.425[m] 86.624[deg]
-[05/10 23:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:37:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:37:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:37:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:37:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:37:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:37:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:37:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:37:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 23:37:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True
-[05/10 23:37:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.906[deg]
-[05/10 23:37:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:38:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/10 23:38:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/10 23:38:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.346s, found feasible grasp: True
-[05/10 23:38:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]
-[05/10 23:38:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/10 23:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps
-[05/10 23:38:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True
-[05/10 23:38:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]
-[05/10 23:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/10 23:38:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:39:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:39:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:39:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 267 timesteps
-[05/10 23:39:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:39:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:39:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.06s (batch: 4.88s, save: 8.18s)
-[05/10 23:39:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
-  episode_total: mean=233.77s, total=233.77s, count=1, min=233768.0ms, max=233768.0ms
-  sensor_polling: mean=536.6ms, total=142.73s, count=266, min=448.8ms, max=862.4ms
-  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8180.8ms, max=8180.8ms
-  physics_step: mean=27.5ms, total=7.32s, count=266, min=13.4ms, max=85.1ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4877.7ms, max=4877.7ms
-  task_sampling: mean=410.9ms, total=410.9ms, count=1, min=410.9ms, max=410.9ms
-  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=647.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:39:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:39:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:39:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 23:39:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:39:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:39:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026932m
-[05/10 23:39:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:39:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:39:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84625756  0.72517209  0.0269322 ] yaw=-166.6deg
-[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97754636  0.86806907  0.0269322 ] yaw=-148.1deg
-[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68711942  0.13666497  0.0269322 ] yaw=168.9deg
-[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:39:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:39:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms
-[05/10 23:39:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.725, 0.027)
-[05/10 23:39:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg
-[05/10 23:39:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:39:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:39:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:39:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 23:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/10 23:39:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:39:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:39:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 23:39:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True
-[05/10 23:39:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 90.739[deg]
-[05/10 23:39:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:40:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:42:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:42:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:42:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:42:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:42:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:42:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:42:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.59s (batch: 5.06s, save: 10.53s)
-[05/10 23:42:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.61s, total=208.61s, count=1, min=208606.1ms, max=208606.1ms
-  sensor_polling: mean=517.1ms, total=155.12s, count=300, min=450.4ms, max=682.8ms
-  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10534.0ms, max=10534.0ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=14.3ms, max=64.9ms
-  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5055.7ms, max=5055.7ms
-  task_sampling: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
-  task_specific_sample: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=421.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:42:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:42:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:42:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:42:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:42:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:42:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:42:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/10 23:42:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:42:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:42:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012296m
-[05/10 23:42:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:42:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:42:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:42:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75378486  0.95268542  0.01229588] yaw=-159.4deg
-[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83741553  1.05889708  0.01229588] yaw=-137.0deg
-[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:42:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97982255  0.79855107  0.01229588] yaw=-148.5deg
-[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:42:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:42:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms
-[05/10 23:42:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.953, 0.012)
-[05/10 23:42:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg
-[05/10 23:42:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
-[05/10 23:42:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:42:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:42:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:42:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:42:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:42:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 23:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/10 23:42:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:42:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:42:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 23:42:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.806s, found feasible grasp: True
-[05/10 23:42:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.654[m] 91.697[deg]
-[05/10 23:42:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:44:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:45:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:46:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:46:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:46:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:46:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:46:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:46:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.13s (batch: 4.37s, save: 11.76s)
-[05/10 23:46:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=209.05s, total=209.05s, count=1, min=209053.7ms, max=209053.7ms
-  sensor_polling: mean=509.4ms, total=152.82s, count=300, min=447.0ms, max=686.1ms
-  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11759.8ms, max=11759.8ms
-  physics_step: mean=24.6ms, total=7.38s, count=300, min=18.5ms, max=61.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.2ms, max=4373.2ms
-  task_sampling: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
-  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:46:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:46:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:46:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:46:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:46:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:46:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:46:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/10 23:46:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:46:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:46:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010541m
-[05/10 23:46:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:46:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:46:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:46:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81118134  0.93145618  0.01054105] yaw=-159.9deg
-[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85850979  0.6086276   0.01054105] yaw=-172.5deg
-[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:46:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84948499  0.69325964  0.01054105] yaw=-160.7deg
-[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:46:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:46:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.5ms, total=270.6ms
-[05/10 23:46:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.931, 0.011)
-[05/10 23:46:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
-[05/10 23:46:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
-[05/10 23:46:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:46:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:46:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:46:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:46:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:46:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 23:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/10 23:46:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:46:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:46:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/10 23:46:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.081s, found feasible grasp: True
-[05/10 23:46:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.540[m] 82.874[deg]
-[05/10 23:46:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:46:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:46:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:47:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:47:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:49:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:49:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:49:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:49:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:49:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:49:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:49:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.71s (batch: 4.64s, save: 9.08s)
-[05/10 23:49:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.57s:
-  episode_total: mean=211.71s, total=211.71s, count=1, min=211714.7ms, max=211714.7ms
-  sensor_polling: mean=520.2ms, total=156.06s, count=300, min=446.5ms, max=1200.2ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.7ms, max=9077.7ms
-  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.6ms, max=91.8ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.3ms, max=4636.3ms
-  task_sampling: mean=571.2ms, total=571.2ms, count=1, min=571.2ms, max=571.2ms
-  task_specific_sample: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:49:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:49:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:49:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 23:49:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:49:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:49:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093162m
-[05/10 23:49:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:49:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:49:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:49:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9490438   0.70646371  0.0931621 ] yaw=-172.6deg
-[05/10 23:49:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63823696  0.63422802  0.0931621 ] yaw=-162.7deg
-[05/10 23:49:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:49:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:49:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.5ms, total=340.6ms
-[05/10 23:49:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.706, 0.093)
-[05/10 23:49:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg
-[05/10 23:49:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:49:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:49:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 23:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/10 23:49:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:49:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:49:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/10 23:49:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
-[05/10 23:49:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 87.614[deg]
-[05/10 23:49:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:50:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:52:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:53:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:53:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:53:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
-[05/10 23:53:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:53:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:53:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.67s (batch: 4.66s, save: 12.01s)
-[05/10 23:53:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
-  episode_total: mean=213.84s, total=213.84s, count=1, min=213843.8ms, max=213843.8ms
-  sensor_polling: mean=525.7ms, total=155.07s, count=295, min=452.8ms, max=957.7ms
-  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12005.6ms, max=12005.6ms
-  physics_step: mean=26.1ms, total=7.69s, count=295, min=19.7ms, max=85.2ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.1ms, max=4662.1ms
-  task_sampling: mean=634.3ms, total=634.3ms, count=1, min=634.3ms, max=634.3ms
-  task_specific_sample: mean=629.9ms, total=629.9ms, count=1, min=629.9ms, max=629.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=526.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:53:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:53:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:53:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:53:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:53:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:53:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:53:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 23:53:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:53:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:53:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074307m
-[05/10 23:53:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:53:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:53:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:53:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76163275  0.8277262   0.07430687] yaw=-153.1deg
-[05/10 23:53:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6437277   0.57630709  0.07430687] yaw=-170.2deg
-[05/10 23:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73851687  0.58731156  0.07430687] yaw=-178.9deg
-[05/10 23:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms
-[05/10 23:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.828, 0.074)
-[05/10 23:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg
-[05/10 23:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m
-[05/10 23:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:53:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 23:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 23:53:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:53:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:53:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 23:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True
-[05/10 23:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.059[deg]
-[05/10 23:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:56:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:56:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:56:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/10 23:56:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:57:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:57:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:57:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.51s (batch: 4.41s, save: 9.09s)
-[05/10 23:57:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
-  episode_total: mean=214.63s, total=214.63s, count=1, min=214629.8ms, max=214629.8ms
-  sensor_polling: mean=539.5ms, total=161.86s, count=300, min=442.9ms, max=999.3ms
-  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9090.2ms, max=9090.2ms
-  physics_step: mean=27.8ms, total=8.34s, count=300, min=16.0ms, max=134.7ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4414.9ms, max=4414.9ms
-  task_sampling: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
-  task_specific_sample: mean=471.3ms, total=471.3ms, count=1, min=471.3ms, max=471.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:57:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:57:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/10 23:57:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:57:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:57:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055161m
-[05/10 23:57:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:57:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:57:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09130323  1.17564193  0.05516061] yaw=-136.2deg
-[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85372511  0.84936624  0.05516061] yaw=-155.6deg
-[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82104226  0.72308723  0.05516061] yaw=-172.8deg
-[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:57:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:57:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms
-[05/10 23:57:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.091, 1.176, 0.055)
-[05/10 23:57:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg
-[05/10 23:57:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:57:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 23:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 23:57:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:57:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:57:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 23:57:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True
-[05/10 23:57:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 83.940[deg]
-[05/10 23:57:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:57:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:57:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/10 23:57:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:57:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:57:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009972m
-[05/10 23:57:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:57:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:57:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05120359  1.10527368  0.00997175] yaw=-134.0deg
-[05/10 23:57:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:57:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85872023  0.43926495  0.00997175] yaw=176.5deg
-[05/10 23:57:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:57:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:57:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms
-[05/10 23:57:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.105, 0.010)
-[05/10 23:57:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg
-[05/10 23:57:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:57:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 23:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/10 23:57:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:57:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:57:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 23:57:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True
-[05/10 23:57:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.492[m] 94.902[deg]
-[05/10 23:57:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:59:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/10 23:59:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.716s, found feasible grasp: True
-[05/10 23:59:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.781[deg]
-[05/10 23:59:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:59:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:59:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/10 23:59:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:59:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:59:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006074m
-[05/10 23:59:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:59:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:59:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92553085  0.94159055  0.00607405] yaw=-154.5deg
-[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12153301  1.00999694  0.00607405] yaw=-145.3deg
-[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8288638   0.67088163  0.00607405] yaw=-167.4deg
-[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:59:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:59:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.9ms, total=414.9ms
-[05/10 23:59:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.942, 0.006)
-[05/10 23:59:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg
-[05/10 23:59:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:59:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:59:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 23:59:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps
-[05/10 23:59:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.278s, found feasible grasp: True
-[05/10 23:59:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 88.185[deg]
-[05/10 23:59:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:00:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:02:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:03:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/11 00:03:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:03:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:03:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.49s (batch: 4.90s, save: 9.58s)
-[05/11 00:03:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.63s:
-  episode_total: mean=124.75s, total=374.26s, count=3, min=2540.2ms, max=205718.9ms
-  sensor_polling: mean=512.3ms, total=293.04s, count=572, min=435.7ms, max=1056.0ms
-  physics_step: mean=26.1ms, total=14.96s, count=572, min=15.3ms, max=153.0ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4904.9ms, max=4904.9ms
-  task_sampling: mean=542.1ms, total=1.63s, count=3, min=421.1ms, max=685.5ms
-  task_specific_sample: mean=538.6ms, total=1.62s, count=3, min=418.0ms, max=682.4ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=482.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 00:03:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:03:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/11 00:03:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:03:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:03:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025034m
-[05/11 00:03:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:03:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:03:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86896707  0.60127442  0.02503383] yaw=-172.3deg
-[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63583555  0.63290091  0.02503383] yaw=-179.0deg
-[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9255671   0.89699646  0.02503383] yaw=-155.4deg
-[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:03:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:03:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms
-[05/11 00:03:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.601, 0.025)
-[05/11 00:03:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg
-[05/11 00:03:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.842m
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:03:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 00:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 00:03:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:03:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:03:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 00:03:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.438s, found feasible grasp: True
-[05/11 00:03:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.379[m] 83.965[deg]
-[05/11 00:03:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:04:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:06:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:06:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/11 00:06:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/11 00:06:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:06:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.03s (batch: 4.23s, save: 8.81s)
-[05/11 00:06:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s:
-  episode_total: mean=208.34s, total=208.34s, count=1, min=208335.0ms, max=208335.0ms
-  sensor_polling: mean=523.8ms, total=155.56s, count=297, min=442.7ms, max=1078.8ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.5ms, max=8805.5ms
-  physics_step: mean=25.8ms, total=7.67s, count=297, min=16.3ms, max=89.7ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.4ms, max=4226.4ms
-  task_sampling: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
-  task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=420.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:06:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:06:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:06:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/11 00:06:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:06:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:06:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090164m
-[05/11 00:06:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:06:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:06:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09864437  1.07171659  0.09016381] yaw=-134.4deg
-[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64087277  0.75531716  0.09016381] yaw=-166.8deg
-[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63677412  0.4630348   0.09016381] yaw=172.3deg
-[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:06:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:06:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
-[05/11 00:06:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.099, 1.072, 0.090)
-[05/11 00:06:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg
-[05/11 00:06:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:06:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:06:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 00:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 00:06:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:06:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:06:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 00:06:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True
-[05/11 00:06:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 85.320[deg]
-[05/11 00:06:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:09:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:09:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:09:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:09:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:09:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/11 00:09:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.790s, found feasible grasp: True
-[05/11 00:09:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.278[deg]
-[05/11 00:09:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:09:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:09:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:09:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 00:09:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:09:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:09:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071570m
-[05/11 00:09:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:09:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:09:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85731504  0.14065876  0.07156992] yaw=157.1deg
-[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80879941  0.02093738  0.07156992] yaw=142.0deg
-[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96438839  1.08735741  0.07156992] yaw=-131.8deg
-[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:09:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:09:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms
-[05/11 00:09:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.141, 0.072)
-[05/11 00:09:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg
-[05/11 00:09:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:09:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:09:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 00:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/11 00:09:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:09:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:09:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:09:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True
-[05/11 00:09:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 97.350[deg]
-[05/11 00:09:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:10:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:11:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:12:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:12:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:12:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:12:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:12:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps
-[05/11 00:12:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True
-[05/11 00:12:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.127[deg]
-[05/11 00:12:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:12:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:12:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:12:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 00:12:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:12:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:12:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032131m
-[05/11 00:12:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:12:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:12:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88501483  0.22460582  0.03213097] yaw=169.1deg
-[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91266046  1.05139448  0.03213097] yaw=-139.3deg
-[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92274396  0.9554116   0.03213097] yaw=-137.5deg
-[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:12:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:12:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms
-[05/11 00:12:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.225, 0.032)
-[05/11 00:12:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg
-[05/11 00:12:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.857m
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:12:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:12:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:12:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 00:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/11 00:12:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:12:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:12:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 00:12:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: True
-[05/11 00:12:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.390[m] 84.064[deg]
-[05/11 00:12:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:13:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:14:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:14:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:14:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
-[05/11 00:14:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.472s, found feasible grasp: True
-[05/11 00:14:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.761[deg]
-[05/11 00:14:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:14:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:14:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:14:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:15:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:15:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:15:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:15:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 00:15:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:15:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:15:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 70 non-colliding grasps
-[05/11 00:15:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.786s, found feasible grasp: True
-[05/11 00:15:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.156[deg]
-[05/11 00:15:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:15:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/11 00:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:16:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:16:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:16:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.29s (batch: 4.52s, save: 8.77s)
-[05/11 00:16:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.38s:
-  episode_total: mean=186.40s, total=559.20s, count=3, min=147321.1ms, max=247492.3ms
-  sensor_polling: mean=509.8ms, total=417.01s, count=818, min=439.2ms, max=1095.2ms
-  physics_step: mean=24.8ms, total=20.28s, count=818, min=14.1ms, max=94.3ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8771.1ms, max=8771.1ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
-  task_sampling: mean=458.4ms, total=1.38s, count=3, min=400.3ms, max=503.8ms
-  task_specific_sample: mean=454.9ms, total=1.36s, count=3, min=396.6ms, max=500.4ms
-  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=428.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 00:16:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:16:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/11 00:16:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:16:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:16:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013286m
-[05/11 00:16:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:16:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:16:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:16:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01383251  1.32286384  0.01328606] yaw=-125.2deg
-[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67374759  0.84359604  0.01328606] yaw=-168.1deg
-[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07590556  1.26099395  0.01328606] yaw=-129.0deg
-[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:16:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:16:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms
-[05/11 00:16:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.323, 0.013)
-[05/11 00:16:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg
-[05/11 00:16:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:16:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 00:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/11 00:16:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:16:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:16:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:16:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.568s, found feasible grasp: False
-[05/11 00:16:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 00:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 00:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095217m
-[05/11 00:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07162109  1.24958402  0.09521713] yaw=-127.1deg
-[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79476942  0.17797388  0.09521713] yaw=164.4deg
-[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9157382   0.8270105   0.09521713] yaw=-158.7deg
-[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.1ms
-[05/11 00:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.250, 0.095)
-[05/11 00:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg
-[05/11 00:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 00:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/11 00:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/11 00:16:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: True
-[05/11 00:16:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.591[m] 87.299[deg]
-[05/11 00:16:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:18:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:18:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:18:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/11 00:18:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.666s, found feasible grasp: False
-[05/11 00:18:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 00:18:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:18:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:18:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/11 00:18:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:18:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:18:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089492m
-[05/11 00:18:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:18:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:18:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74443993  0.39961781  0.08949196] yaw=172.7deg
-[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89895806  1.22558512  0.08949196] yaw=-126.2deg
-[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75884892  0.76753317  0.08949196] yaw=-160.7deg
-[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:18:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:18:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.8ms
-[05/11 00:18:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.400, 0.089)
-[05/11 00:18:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg
-[05/11 00:18:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:18:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:18:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:18:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 00:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 00:18:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:18:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:18:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 00:18:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True
-[05/11 00:18:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.491[m] 84.906[deg]
-[05/11 00:18:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:20:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:20:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:20:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:20:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/11 00:20:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.390s, found feasible grasp: True
-[05/11 00:20:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.623[deg]
-[05/11 00:20:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:21:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:21:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:21:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/11 00:21:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:21:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:21:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:21:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.10s (batch: 4.18s, save: 7.93s)
-[05/11 00:21:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.56s:
-  episode_total: mean=110.36s, total=331.08s, count=3, min=2082.7ms, max=197304.1ms
-  sensor_polling: mean=473.8ms, total=251.11s, count=530, min=433.4ms, max=971.4ms
-  physics_step: mean=22.4ms, total=11.85s, count=530, min=14.1ms, max=62.1ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7928.1ms, max=7928.1ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.1ms, max=4176.1ms
-  task_sampling: mean=518.4ms, total=1.56s, count=3, min=383.8ms, max=668.5ms
-  task_specific_sample: mean=515.1ms, total=1.55s, count=3, min=379.9ms, max=665.4ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=436.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 00:21:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:21:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:21:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:21:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:21:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:21:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:21:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
-[05/11 00:21:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:21:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:21:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054893m
-[05/11 00:21:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:21:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:21:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80740238  0.49292804  0.05489308] yaw=-181.1deg
-[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74997077  0.8489766   0.05489308] yaw=-156.1deg
-[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05290098  1.23716377  0.05489308] yaw=-133.3deg
-[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:21:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:21:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms
-[05/11 00:21:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.493, 0.055)
-[05/11 00:21:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg
-[05/11 00:21:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
-[05/11 00:21:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:21:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:21:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:21:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:21:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:21:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 00:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 00:21:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:21:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:21:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 00:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
-[05/11 00:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.694[deg]
-[05/11 00:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:24:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:25:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:25:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
-[05/11 00:25:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:25:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:25:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:25:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.34s (batch: 4.06s, save: 9.28s)
-[05/11 00:25:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
-  episode_total: mean=201.22s, total=201.22s, count=1, min=201217.3ms, max=201217.3ms
-  sensor_polling: mean=490.1ms, total=147.03s, count=300, min=431.1ms, max=817.7ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9279.8ms, max=9279.8ms
-  physics_step: mean=23.3ms, total=6.98s, count=300, min=18.2ms, max=63.0ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.8ms, max=4060.8ms
-  task_sampling: mean=489.7ms, total=489.7ms, count=1, min=489.7ms, max=489.7ms
-  task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=436.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:25:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:25:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:25:17 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
-[05/11 00:25:17 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5856.09s
-  House averages:
-  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
-  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
-  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
-  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
-  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
-  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
-  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:25:17 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 00:25:17 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5856.09s
-  Worker averages:
-  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
-  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
-  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
-  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
-  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
-  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
-  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
-  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
-  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
-  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
-  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
-  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:25:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 00:25:20 INFO pipeline.py:1491] Success count: 12, Total count: 12
-[05/11 00:25:20 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
-==========================================
diff --git a/fridge_7/chunk_011/shard_3_of_4.log b/fridge_7/chunk_011/shard_3_of_4.log
deleted file mode 100644
index daa928c2ae78a9c6087b3af8b26df2ea9ff65217..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_011/shard_3_of_4.log
+++ /dev/null
@@ -1,1679 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
-  shard=3/4  seed=21103  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 23:31:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 23:31:24 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 23:31:24 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x753bc767d990>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21103,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 23:31:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 23:31:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 128899605711952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128899605711952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 128899605711952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 128899605711952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 128899607968336 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128899607968336 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128899607969744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128899607969744 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128899607969744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128899607969744 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128899607968336 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128899607968336 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128899605952592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128899605952592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 128899605950544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128899605950544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 128899605950544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 128899605950544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 128899605952592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 128899605952592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5833bc6aa470 at 0x753bc7bbe8d0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5833bc6abf60 at 0x753bc79d2050>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5833bc6abf60 at 0x753bc7b59610>
-[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036596m
-[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8288799   0.76985789  0.0365958 ] yaw=-167.4deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.0ms, retries=289.5ms, total=304.5ms
-[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.770, 0.037)
-[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:31:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 23:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.265s
-[05/10 23:31:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:31:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.478[m] 87.631[deg]
-[05/10 23:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:34:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 23:35:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/10 23:35:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:35:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 23:35:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.10s (batch: 4.32s, save: 10.78s)
-[05/10 23:35:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.72s:
-  episode_total: mean=240.32s, total=240.32s, count=1, min=240316.5ms, max=240316.5ms
-  sensor_polling: mean=533.8ms, total=160.14s, count=300, min=450.4ms, max=917.9ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.4ms, max=10779.4ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=17.2ms, max=89.3ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.0ms, max=4321.0ms
-  task_sampling: mean=3.72s, total=3.72s, count=1, min=3717.8ms, max=3717.8ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  task_specific_sample: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=450.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=40.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:35:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:35:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 23:35:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:35:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:35:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076543m
-[05/10 23:35:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:35:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:35:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81464118  0.36541012  0.07654343] yaw=163.2deg
-[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02696849  0.14820071  0.07654343] yaw=146.4deg
-[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8984851   0.40177972  0.07654343] yaw=167.8deg
-[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:35:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:35:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.3ms, total=262.4ms
-[05/10 23:35:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.365, 0.077)
-[05/10 23:35:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg
-[05/10 23:35:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
-[05/10 23:35:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:35:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 23:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 23:35:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:35:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:35:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/10 23:35:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/10 23:35:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.442[m] 88.595[deg]
-[05/10 23:35:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:38:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:38:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/10 23:38:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 4.015s, found feasible grasp: True
-[05/10 23:38:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 102 (originally 102): w/ 0.100[m] 0.705[deg]
-[05/10 23:38:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:38:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:38:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/10 23:38:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:38:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:38:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055981m
-[05/10 23:38:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:38:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:38:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.861075    1.17952271  0.05598067] yaw=-147.4deg
-[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6588297   0.48237374  0.05598067] yaw=-178.6deg
-[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81977159  0.64246729  0.05598067] yaw=-162.7deg
-[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:38:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:38:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.9ms, total=306.0ms
-[05/10 23:38:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 1.180, 0.056)
-[05/10 23:38:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg
-[05/10 23:38:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.093m
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:38:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 23:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/10 23:38:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 23:38:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: False
-[05/10 23:38:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/10 23:38:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:38:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/10 23:38:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:38:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:38:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043829m
-[05/10 23:38:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:38:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:38:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21353998  1.05882707  0.04382903] yaw=-128.6deg
-[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:38:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86171715  0.6984774   0.04382903] yaw=-164.3deg
-[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90236657  0.59267187  0.04382903] yaw=-161.7deg
-[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:38:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:38:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms
-[05/10 23:38:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.214, 1.059, 0.044)
-[05/10 23:38:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -128.6 deg
-[05/10 23:38:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:38:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 23:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/10 23:38:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 23:38:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True
-[05/10 23:38:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.387[m] 99.554[deg]
-[05/10 23:38:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:40:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:41:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:41:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:41:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/10 23:41:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True
-[05/10 23:41:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]
-[05/10 23:41:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:41:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:41:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:41:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/10 23:41:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:41:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:41:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068799m
-[05/10 23:41:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:41:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:41:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:41:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:41:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88265952  0.68215027  0.06879932] yaw=-174.2deg
-[05/10 23:41:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:41:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95127832  0.42510983  0.06879932] yaw=170.3deg
-[05/10 23:41:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:41:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69908506  0.30720058  0.06879932] yaw=159.5deg
-[05/10 23:41:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:41:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:41:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.1ms
-[05/10 23:41:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.682, 0.069)
-[05/10 23:41:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg
-[05/10 23:41:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
-[05/10 23:41:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:41:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:41:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:41:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:41:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:41:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 23:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/10 23:41:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:41:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:41:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 23:41:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True
-[05/10 23:41:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.398[m] 81.834[deg]
-[05/10 23:41:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:41:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:42:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:43:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:44:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:44:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/10 23:44:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:44:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:44:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:44:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.58s (batch: 4.07s, save: 8.52s)
-[05/10 23:44:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.92s:
-  episode_total: mean=134.37s, total=537.49s, count=4, min=2319.5ms, max=204250.9ms
-  sensor_polling: mean=521.1ms, total=421.58s, count=809, min=437.4ms, max=883.9ms
-  physics_step: mean=26.4ms, total=21.37s, count=809, min=15.6ms, max=85.3ms
-  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8515.1ms, max=8515.1ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4068.4ms, max=4068.4ms
-  task_sampling: mean=479.7ms, total=1.92s, count=4, min=367.7ms, max=608.4ms
-  task_specific_sample: mean=476.3ms, total=1.91s, count=4, min=364.5ms, max=605.1ms
-  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=476.4us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=20.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 23:44:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:44:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:44:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
-[05/10 23:44:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:44:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:44:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093443m
-[05/10 23:44:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:44:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:44:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8598333   0.1418342   0.09344301] yaw=155.0deg
-[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:44:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70357563  0.11317789  0.09344301] yaw=157.4deg
-[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:44:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07680101  1.19486347  0.09344301] yaw=-129.5deg
-[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:44:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:44:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms
-[05/10 23:44:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.142, 0.093)
-[05/10 23:44:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg
-[05/10 23:44:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:44:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:44:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 23:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/10 23:44:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:44:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:44:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 23:44:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
-[05/10 23:44:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.443[m] 83.298[deg]
-[05/10 23:44:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:46:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:46:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:46:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:46:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:46:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:46:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/10 23:46:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True
-[05/10 23:46:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.642[deg]
-[05/10 23:47:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:47:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:47:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
-[05/10 23:47:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:47:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:47:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043145m
-[05/10 23:47:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:47:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:47:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05526371  1.15538345  0.04314499] yaw=-124.8deg
-[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97408154  1.1266294   0.04314499] yaw=-131.7deg
-[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69478008  0.21991939  0.04314499] yaw=156.3deg
-[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:47:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:47:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms
-[05/10 23:47:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.155, 0.043)
-[05/10 23:47:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg
-[05/10 23:47:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:47:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 23:47:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/10 23:47:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:47:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:47:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 23:47:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True
-[05/10 23:47:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.539[m] 81.900[deg]
-[05/10 23:47:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:47:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:47:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
-[05/10 23:47:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:47:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:47:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042869m
-[05/10 23:47:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:47:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:47:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1315205   1.20036769  0.04286898] yaw=-132.8deg
-[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79346096  0.09589438  0.04286898] yaw=160.3deg
-[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62357485  0.48062353  0.04286898] yaw=179.2deg
-[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.8ms
-[05/10 23:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.200, 0.043)
-[05/10 23:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
-[05/10 23:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.918m
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:47:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 23:47:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/10 23:47:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:47:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:47:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/10 23:47:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.795s, found feasible grasp: True
-[05/10 23:47:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.504[m] 84.813[deg]
-[05/10 23:47:13 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:47:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:47:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/10 23:47:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:47:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:47:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063374m
-[05/10 23:47:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:47:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:47:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8591719   0.44542569  0.06337356] yaw=176.9deg
-[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77747043  0.25586804  0.06337356] yaw=154.8deg
-[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.916519    0.15386701  0.06337356] yaw=159.4deg
-[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:47:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:47:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.6ms, total=146.6ms
-[05/10 23:47:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.445, 0.063)
-[05/10 23:47:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg
-[05/10 23:47:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:47:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:47:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/10 23:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
-[05/10 23:47:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:47:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:47:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/10 23:47:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True
-[05/10 23:47:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.375[m] 88.830[deg]
-[05/10 23:47:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:48:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:50:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:50:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:50:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/10 23:50:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
-[05/10 23:50:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:50:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:50:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.18s (batch: 4.29s, save: 8.89s)
-[05/10 23:50:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.75s:
-  episode_total: mean=91.69s, total=366.76s, count=4, min=4290.6ms, max=208181.7ms
-  sensor_polling: mean=536.1ms, total=283.61s, count=529, min=450.5ms, max=1092.9ms
-  physics_step: mean=28.8ms, total=15.24s, count=529, min=16.1ms, max=127.9ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8890.9ms, max=8890.9ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.8ms, max=4293.8ms
-  task_sampling: mean=437.9ms, total=1.75s, count=4, min=386.3ms, max=504.7ms
-  task_specific_sample: mean=434.6ms, total=1.74s, count=4, min=382.7ms, max=500.8ms
-  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=434.5us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/10 23:50:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:50:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:50:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 23:50:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:50:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:50:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001129m
-[05/10 23:50:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:50:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:50:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93477437  0.68839188  0.00112875] yaw=-169.9deg
-[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81840535  0.1328861   0.00112875] yaw=152.1deg
-[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92001577  0.49534052  0.00112875] yaw=-183.1deg
-[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:50:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:50:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms
-[05/10 23:50:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.688, 0.001)
-[05/10 23:50:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg
-[05/10 23:50:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:50:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:50:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:50:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/10 23:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/10 23:50:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:50:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:50:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/10 23:50:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True
-[05/10 23:50:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.311[m] 82.200[deg]
-[05/10 23:50:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:53:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:53:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:53:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/10 23:53:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps
-[05/10 23:54:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:54:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:54:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.02s (batch: 3.99s, save: 8.03s)
-[05/10 23:54:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
-  episode_total: mean=198.61s, total=198.61s, count=1, min=198612.7ms, max=198612.7ms
-  sensor_polling: mean=544.0ms, total=153.40s, count=282, min=454.3ms, max=1166.6ms
-  physics_step: mean=28.7ms, total=8.09s, count=282, min=16.1ms, max=103.5ms
-  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8029.7ms, max=8029.7ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3994.8ms, max=3994.8ms
-  task_sampling: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms
-  task_specific_sample: mean=493.1ms, total=493.1ms, count=1, min=493.1ms, max=493.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:54:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:54:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:54:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 23:54:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:54:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:54:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076562m
-[05/10 23:54:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:54:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:54:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:54:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81203644  0.91616264  0.07656162] yaw=-145.4deg
-[05/10 23:54:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:54:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:54:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms
-[05/10 23:54:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.916, 0.077)
-[05/10 23:54:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg
-[05/10 23:54:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:54:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:54:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/10 23:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 23:54:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:54:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:54:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/10 23:54:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.739s, found feasible grasp: True
-[05/10 23:54:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.592[m] 96.562[deg]
-[05/10 23:54:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:57:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:57:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/10 23:57:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:57:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:57:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:57:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.44s (batch: 4.11s, save: 8.33s)
-[05/10 23:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.63s:
-  episode_total: mean=208.63s, total=208.63s, count=1, min=208626.0ms, max=208626.0ms
-  sensor_polling: mean=535.4ms, total=160.62s, count=300, min=444.3ms, max=902.1ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.4ms, max=8327.4ms
-  physics_step: mean=26.2ms, total=7.86s, count=300, min=15.5ms, max=85.1ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
-  task_sampling: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
-  task_specific_sample: mean=629.6ms, total=629.6ms, count=1, min=629.6ms, max=629.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=414.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:57:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:57:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/10 23:57:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:57:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:57:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067611m
-[05/10 23:57:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:57:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:57:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219757  0.27806194  0.06761106] yaw=163.9deg
-[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75801984  0.90056949  0.06761106] yaw=-164.5deg
-[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70948634  0.89620694  0.06761106] yaw=-157.5deg
-[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.4ms
-[05/10 23:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.278, 0.068)
-[05/10 23:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg
-[05/10 23:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
-[05/10 23:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/10 23:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/10 23:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/10 23:57:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True
-[05/10 23:57:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.347[m] 86.524[deg]
-[05/10 23:57:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:58:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:59:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:59:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:59:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps
-[05/10 23:59:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.106s, found feasible grasp: True
-[05/10 23:59:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.216[deg]
-[05/10 23:59:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/10 23:59:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:59:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/10 23:59:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:59:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:59:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074021m
-[05/10 23:59:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:59:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:59:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71771047  0.2412294   0.07402057] yaw=165.9deg
-[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79801228  0.88609307  0.07402057] yaw=-158.8deg
-[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90447118  0.59809941  0.07402057] yaw=-182.3deg
-[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:59:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:59:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.3ms
-[05/10 23:59:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.241, 0.074)
-[05/10 23:59:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg
-[05/10 23:59:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:59:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:59:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/10 23:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
-[05/10 23:59:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.143s, found 88 non-colliding grasps
-[05/10 23:59:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.236s, found feasible grasp: True
-[05/10 23:59:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.586[m] 97.310[deg]
-[05/10 23:59:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:00:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:02:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:02:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:02:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:02:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.37s (batch: 4.37s, save: 9.00s)
-[05/11 00:03:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s:
-  episode_total: mean=164.87s, total=329.73s, count=2, min=112765.7ms, max=216965.6ms
-  sensor_polling: mean=524.1ms, total=244.76s, count=467, min=438.7ms, max=934.2ms
-  physics_step: mean=25.9ms, total=12.07s, count=467, min=16.2ms, max=132.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9001.2ms, max=9001.2ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
-  task_sampling: mean=448.2ms, total=896.4ms, count=2, min=440.6ms, max=455.8ms
-  task_specific_sample: mean=442.0ms, total=884.0ms, count=2, min=432.5ms, max=451.5ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms
-  mj_forward_sync: mean=527.1us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
-[05/11 00:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086124m
-[05/11 00:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88626437  0.87951487  0.08612394] yaw=-148.1deg
-[05/11 00:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69891733  0.22386451  0.08612394] yaw=172.1deg
-[05/11 00:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.5ms, total=465.6ms
-[05/11 00:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.880, 0.086)
-[05/11 00:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg
-[05/11 00:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.908m
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 00:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
-[05/11 00:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 00:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True
-[05/11 00:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.473[m] 90.178[deg]
-[05/11 00:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:06:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:06:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:06:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:06:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:06:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.15s (batch: 4.95s, save: 9.20s)
-[05/11 00:06:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.78s:
-  episode_total: mean=211.89s, total=211.89s, count=1, min=211893.8ms, max=211893.8ms
-  sensor_polling: mean=535.6ms, total=160.68s, count=300, min=427.1ms, max=1098.6ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
-  physics_step: mean=26.0ms, total=7.81s, count=300, min=17.8ms, max=88.6ms
-  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4951.5ms, max=4951.5ms
-  task_sampling: mean=778.6ms, total=778.6ms, count=1, min=778.6ms, max=778.6ms
-  task_specific_sample: mean=774.2ms, total=774.2ms, count=1, min=774.2ms, max=774.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=546.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:06:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:06:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:06:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:06:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:06:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:06:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:06:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/11 00:06:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:06:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:06:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069429m
-[05/11 00:06:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:06:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:06:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:06:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64940391  0.46078237  0.06942928] yaw=180.5deg
-[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69885296  0.14089567  0.06942928] yaw=167.8deg
-[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74265389  0.84038795  0.06942928] yaw=-152.7deg
-[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:06:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:06:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms
-[05/11 00:06:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.461, 0.069)
-[05/11 00:06:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg
-[05/11 00:06:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
-[05/11 00:06:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:06:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:06:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:06:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:06:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 00:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 00:06:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:06:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:06:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/11 00:06:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True
-[05/11 00:06:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.628[m] 91.473[deg]
-[05/11 00:06:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:07:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:09:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:09:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:09:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:09:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:10:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:10:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:10:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.07s (batch: 4.31s, save: 8.77s)
-[05/11 00:10:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.64s:
-  episode_total: mean=209.61s, total=209.61s, count=1, min=209608.9ms, max=209608.9ms
-  sensor_polling: mean=529.5ms, total=158.84s, count=300, min=444.4ms, max=925.0ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8766.2ms, max=8766.2ms
-  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.3ms, max=86.9ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.2ms, max=4308.2ms
-  task_sampling: mean=637.4ms, total=637.4ms, count=1, min=637.4ms, max=637.4ms
-  task_specific_sample: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:10:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:10:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/11 00:10:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:10:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:10:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057305m
-[05/11 00:10:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:10:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:10:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:10:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85454749  0.78435141  0.05730464] yaw=-165.7deg
-[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63991555  0.31565095  0.05730464] yaw=168.4deg
-[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73269485  0.88432563  0.05730464] yaw=-148.2deg
-[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:10:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:10:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms
-[05/11 00:10:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.784, 0.057)
-[05/11 00:10:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg
-[05/11 00:10:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:10:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 00:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 00:10:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:10:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:10:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 00:10:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True
-[05/11 00:10:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.486[m] 91.522[deg]
-[05/11 00:10:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:12:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:13:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:13:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:13:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:13:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:13:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:13:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.83s (batch: 4.41s, save: 8.42s)
-[05/11 00:13:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
-  episode_total: mean=199.13s, total=199.13s, count=1, min=199126.7ms, max=199126.7ms
-  sensor_polling: mean=511.4ms, total=153.42s, count=300, min=449.0ms, max=887.9ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8419.9ms, max=8419.9ms
-  physics_step: mean=24.5ms, total=7.34s, count=300, min=16.0ms, max=51.5ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.9ms, max=4413.9ms
-  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
-  task_specific_sample: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=462.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:13:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:13:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:13:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/11 00:13:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:13:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:13:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004134m
-[05/11 00:13:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:13:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:13:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:13:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62842221  0.5066583   0.00413355] yaw=-171.5deg
-[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94229332  0.92176437  0.00413355] yaw=-146.5deg
-[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78415427  0.01158756  0.00413355] yaw=144.1deg
-[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:13:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:13:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.2ms, total=127.2ms
-[05/11 00:13:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.507, 0.004)
-[05/11 00:13:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg
-[05/11 00:13:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:13:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:13:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 00:13:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 00:13:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:13:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:13:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 00:13:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True
-[05/11 00:13:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 84.501[deg]
-[05/11 00:13:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:16:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:16:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:16:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:16:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:16:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:16:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:16:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.37s (batch: 4.22s, save: 8.15s)
-[05/11 00:16:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
-  episode_total: mean=189.59s, total=189.59s, count=1, min=189588.5ms, max=189588.5ms
-  sensor_polling: mean=483.2ms, total=144.97s, count=300, min=448.9ms, max=816.6ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8150.9ms, max=8150.9ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=18.4ms, max=35.6ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4215.3ms, max=4215.3ms
-  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
-  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:16:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:16:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 00:16:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:16:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:16:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031804m
-[05/11 00:16:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:16:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:16:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:16:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64433095  0.60474055  0.03180382] yaw=-178.1deg
-[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89454969  0.78861653  0.03180382] yaw=-162.3deg
-[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:16:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76236143  0.55153264  0.03180382] yaw=-175.7deg
-[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:16:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:16:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.1ms
-[05/11 00:16:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.605, 0.032)
-[05/11 00:16:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg
-[05/11 00:16:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:16:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:16:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 00:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 00:16:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:16:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:16:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/11 00:16:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True
-[05/11 00:16:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.640[m] 93.514[deg]
-[05/11 00:16:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:17:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:19:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:19:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:19:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
-[05/11 00:19:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:19:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:19:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:19:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.21s (batch: 4.12s, save: 8.09s)
-[05/11 00:19:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=189.43s, total=189.43s, count=1, min=189430.5ms, max=189430.5ms
-  sensor_polling: mean=483.8ms, total=145.14s, count=300, min=445.4ms, max=743.5ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8091.4ms, max=8091.4ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.8ms, max=37.5ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.8ms, max=4120.8ms
-  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
-  task_specific_sample: mean=424.6ms, total=424.6ms, count=1, min=424.6ms, max=424.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=443.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:19:57 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:19:57 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:19:57 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
-[05/11 00:19:57 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5349.33s
-  House averages:
-  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
-  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
-  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
-  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
-  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
-  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
-  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:19:57 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 00:19:57 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5349.33s
-  Worker averages:
-  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
-  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
-  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
-  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
-  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
-  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
-  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
-  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
-  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
-  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
-  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
-  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
-  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
-  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
-  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
-  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
-  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
-  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:20:00 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 00:20:00 INFO pipeline.py:1491] Success count: 11, Total count: 11
-[05/11 00:20:00 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
-==========================================
diff --git a/fridge_7/chunk_011/shard_4_of_4.log b/fridge_7/chunk_011/shard_4_of_4.log
deleted file mode 100644
index 107eebfb3b4d5c773c88a2199178f17e6714e2a7..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_011/shard_4_of_4.log
+++ /dev/null
@@ -1,1825 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
-  shard=4/4  seed=21104  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/10 23:31:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/10 23:31:25 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/10 23:31:25 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_011'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ad4beefc7d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21104,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:31:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/10 23:31:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/10 23:31:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 135054151667024 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135054151667024 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 135054151667024 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 135054151667024 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 135054159543184 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135054159543184 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135054159543696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135054159543696 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135054159543696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135054159543696 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135054159543184 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135054159543184 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135054151753680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135054151753680 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 135054151751184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135054151751184 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 135054151751184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 135054151751184 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 135054151753680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 135054151753680 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 58e69e39b200 at 0x7ad4bf455d50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58e69e39cd30 at 0x7ad4bf0d1190>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58e69e39cd30 at 0x7ad4bf3e1610>
-[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076782m
-[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93678307  0.8402857   0.07678213] yaw=-149.7deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76813749  0.21635655  0.07678213] yaw=152.8deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68157984  0.81878541  0.07678213] yaw=-172.9deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=355.5ms, total=370.5ms
-[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.840, 0.077)
-[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
-[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:31:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:31:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/10 23:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.297s
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True
-[05/10 23:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 96.548[deg]
-[05/10 23:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:34:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/10 23:35:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:35:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:35:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/10 23:35:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:35:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.72s (batch: 4.37s, save: 9.35s)
-[05/10 23:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
-  episode_total: mean=235.74s, total=235.74s, count=1, min=235740.7ms, max=235740.7ms
-  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=441.1ms, max=909.4ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9347.2ms, max=9347.2ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.7ms, max=90.1ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.9ms, max=4369.9ms
-  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.2ms, max=3624.2ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  task_specific_sample: mean=814.3ms, total=814.3ms, count=1, min=814.3ms, max=814.3ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=58.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/10 23:35:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:35:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/10 23:35:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:35:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:35:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037842m
-[05/10 23:35:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:35:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:35:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79672647  0.87519575  0.03784208] yaw=-145.6deg
-[05/10 23:35:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75131251  0.21558023  0.03784208] yaw=164.9deg
-[05/10 23:35:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88646408  1.04241023  0.03784208] yaw=-137.3deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms
-[05/10 23:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.875, 0.038)
-[05/10 23:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
-[05/10 23:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/10 23:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:35:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
-[05/10 23:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True
-[05/10 23:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.549[m] 87.371[deg]
-[05/10 23:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:36:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:38:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:38:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:38:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:38:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:38:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:38:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.09s (batch: 4.42s, save: 9.68s)
-[05/10 23:38:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s:
-  episode_total: mean=205.59s, total=205.59s, count=1, min=205594.2ms, max=205594.2ms
-  sensor_polling: mean=517.8ms, total=155.34s, count=300, min=442.1ms, max=856.7ms
-  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9676.3ms, max=9676.3ms
-  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=72.2ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.0ms, max=4417.0ms
-  task_sampling: mean=583.8ms, total=583.8ms, count=1, min=583.8ms, max=583.8ms
-  task_specific_sample: mean=578.8ms, total=578.8ms, count=1, min=578.8ms, max=578.8ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=715.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:38:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:38:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:38:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/10 23:38:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:38:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:38:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m
-[05/10 23:38:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:38:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:38:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00511573  1.01040137  0.06463469] yaw=-145.9deg
-[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80298611  0.47565056  0.06463469] yaw=184.7deg
-[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:38:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64482705  0.49030811  0.06463469] yaw=-185.6deg
-[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:38:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:38:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms
-[05/10 23:38:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.005, 1.010, 0.065)
-[05/10 23:38:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
-[05/10 23:38:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:38:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:38:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/10 23:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/10 23:38:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:38:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:38:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/10 23:38:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.714s, found feasible grasp: True
-[05/10 23:38:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 85.590[deg]
-[05/10 23:38:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:41:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:42:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:42:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:42:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:42:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:42:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:42:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.08s (batch: 4.72s, save: 9.35s)
-[05/10 23:42:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
-  episode_total: mean=216.56s, total=216.56s, count=1, min=216556.8ms, max=216556.8ms
-  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=446.8ms, max=682.6ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.9ms, max=9352.9ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.6ms, max=143.4ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4722.7ms, max=4722.7ms
-  task_sampling: mean=438.4ms, total=438.4ms, count=1, min=438.4ms, max=438.4ms
-  task_specific_sample: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=31.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:42:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:42:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:42:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/10 23:42:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:42:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:42:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027121m
-[05/10 23:42:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:42:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:42:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88971007  0.83081089  0.02712107] yaw=-153.0deg
-[05/10 23:42:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:42:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70712689  0.36916437  0.02712107] yaw=182.8deg
-[05/10 23:42:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:42:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:42:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.4ms
-[05/10 23:42:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.831, 0.027)
-[05/10 23:42:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
-[05/10 23:42:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.884m
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:42:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/10 23:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
-[05/10 23:42:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:42:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:42:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps
-[05/10 23:42:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.359s, found feasible grasp: True
-[05/10 23:42:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.073[deg]
-[05/10 23:42:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:43:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:43:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:45:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:45:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:45:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:45:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:45:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:45:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:45:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.24s (batch: 4.83s, save: 9.41s)
-[05/10 23:45:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
-  episode_total: mean=210.06s, total=210.06s, count=1, min=210055.4ms, max=210055.4ms
-  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=449.3ms, max=699.9ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9408.1ms, max=9408.1ms
-  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.6ms, max=87.3ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
-  task_sampling: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms
-  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=535.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:46:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:46:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:46:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
-[05/10 23:46:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:46:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:46:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001132m
-[05/10 23:46:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:46:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:46:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93106469  0.63508798  0.00113157] yaw=-168.9deg
-[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78013499  0.2348868   0.00113157] yaw=172.6deg
-[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00041027  0.88707649  0.00113157] yaw=-145.9deg
-[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:46:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:46:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.0ms, total=187.1ms
-[05/10 23:46:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.635, 0.001)
-[05/10 23:46:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg
-[05/10 23:46:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:46:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:46:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:46:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/10 23:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/10 23:46:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:46:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:46:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/10 23:46:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True
-[05/10 23:46:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.324[m] 80.008[deg]
-[05/10 23:46:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:46:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:46:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:46:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:48:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:49:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:49:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:49:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
-[05/10 23:49:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:49:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:49:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.32s (batch: 4.40s, save: 8.91s)
-[05/10 23:49:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
-  episode_total: mean=205.48s, total=205.48s, count=1, min=205483.4ms, max=205483.4ms
-  sensor_polling: mean=525.2ms, total=149.67s, count=285, min=454.3ms, max=878.6ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8914.5ms, max=8914.5ms
-  physics_step: mean=24.9ms, total=7.10s, count=285, min=15.6ms, max=59.0ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.1ms, max=4401.1ms
-  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
-  task_specific_sample: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=564.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:49:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:49:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:49:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:49:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:49:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:49:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:49:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/10 23:49:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:49:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:49:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021820m
-[05/10 23:49:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:49:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:49:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:49:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7866459   0.05552389  0.02182031] yaw=152.0deg
-[05/10 23:49:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:49:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04361112  1.09358995  0.02182031] yaw=-139.2deg
-[05/10 23:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66489552  0.23432551  0.02182031] yaw=157.8deg
-[05/10 23:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.2ms, total=348.2ms
-[05/10 23:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.056, 0.022)
-[05/10 23:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg
-[05/10 23:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
-[05/10 23:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:49:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:49:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/10 23:49:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s
-[05/10 23:49:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:49:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:49:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/10 23:49:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.993s, found feasible grasp: True
-[05/10 23:49:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.554[m] 88.343[deg]
-[05/10 23:49:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:49:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:49:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:50:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:50:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:52:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:53:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:53:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:53:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:53:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:53:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:53:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.59s, save: 9.52s)
-[05/10 23:53:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.65s:
-  episode_total: mean=227.79s, total=227.79s, count=1, min=227793.6ms, max=227793.6ms
-  sensor_polling: mean=552.8ms, total=165.84s, count=300, min=467.6ms, max=862.6ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.9ms, max=9520.9ms
-  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.0ms, max=119.3ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.2ms, max=4587.2ms
-  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
-  task_specific_sample: mean=645.2ms, total=645.2ms, count=1, min=645.2ms, max=645.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=550.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:53:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:53:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:53:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/10 23:53:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:53:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:53:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014464m
-[05/10 23:53:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:53:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:53:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94476567  0.36109704  0.01446412] yaw=175.0deg
-[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96003198  0.76849282  0.01446412] yaw=-153.9deg
-[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74441002  0.70876784  0.01446412] yaw=-160.5deg
-[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:53:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:53:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.5ms
-[05/10 23:53:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.361, 0.014)
-[05/10 23:53:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.0 deg
-[05/10 23:53:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:53:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:53:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:53:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/10 23:53:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.145s
-[05/10 23:53:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:53:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:53:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
-[05/10 23:53:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True
-[05/10 23:53:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.327[m] 94.913[deg]
-[05/10 23:53:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:55:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:55:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:55:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps
-[05/10 23:55:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True
-[05/10 23:55:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.694[deg]
-[05/10 23:55:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:56:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/10 23:56:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:56:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/10 23:56:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/10 23:57:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/10 23:57:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/10 23:57:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.96s (batch: 4.30s, save: 9.66s)
-[05/10 23:57:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
-  episode_total: mean=235.44s, total=235.44s, count=1, min=235438.0ms, max=235438.0ms
-  sensor_polling: mean=539.5ms, total=161.84s, count=300, min=455.0ms, max=819.4ms
-  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9656.8ms, max=9656.8ms
-  physics_step: mean=29.3ms, total=8.78s, count=300, min=15.6ms, max=111.6ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.7ms, max=4301.7ms
-  task_sampling: mean=659.5ms, total=659.5ms, count=1, min=659.5ms, max=659.5ms
-  task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms
-  mj_forward_sync: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/10 23:57:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/10 23:57:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/10 23:57:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/10 23:57:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/10 23:57:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016471m
-[05/10 23:57:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/10 23:57:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/10 23:57:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11780285  1.02281016  0.01647071] yaw=-132.2deg
-[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7317327   0.56566006  0.01647071] yaw=-169.9deg
-[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78838388  0.59263425  0.01647071] yaw=-176.8deg
-[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/10 23:57:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/10 23:57:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms
-[05/10 23:57:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.118, 1.023, 0.016)
-[05/10 23:57:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg
-[05/10 23:57:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/10 23:57:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/10 23:57:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/10 23:57:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/10 23:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/10 23:57:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:57:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:57:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/10 23:57:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/10 23:57:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.346[m] 93.607[deg]
-[05/10 23:57:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/10 23:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/10 23:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/10 23:57:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/10 23:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/10 23:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/10 23:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/10 23:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/10 23:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/10 23:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/10 23:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/10 23:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/10 23:59:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/10 23:59:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/10 23:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps
-[05/11 00:00:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.791s, found feasible grasp: True
-[05/11 00:00:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
-[05/11 00:00:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:00:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:00:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:00:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/11 00:00:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:00:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:00:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040598m
-[05/11 00:00:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:00:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:00:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:00:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92689439  0.95820455  0.04059786] yaw=-153.3deg
-[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62598674  0.54061215  0.04059786] yaw=-176.8deg
-[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75258244  0.01379325  0.04059786] yaw=154.3deg
-[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:00:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:00:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.6ms
-[05/11 00:00:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.958, 0.041)
-[05/11 00:00:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg
-[05/11 00:00:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:00:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:00:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:00:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 00:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/11 00:00:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:00:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:00:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/11 00:00:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True
-[05/11 00:00:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.461[m] 79.375[deg]
-[05/11 00:00:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:00:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:02:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:03:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:03:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:03:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:03:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:03:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.74s (batch: 4.59s, save: 9.16s)
-[05/11 00:03:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
-  episode_total: mean=185.81s, total=371.63s, count=2, min=168378.6ms, max=203251.2ms
-  sensor_polling: mean=514.3ms, total=293.15s, count=570, min=437.8ms, max=886.1ms
-  physics_step: mean=24.7ms, total=14.10s, count=570, min=16.6ms, max=82.7ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9156.0ms, max=9156.0ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.8ms, max=4586.8ms
-  task_sampling: mean=452.3ms, total=904.5ms, count=2, min=442.8ms, max=461.7ms
-  task_specific_sample: mean=448.6ms, total=897.2ms, count=2, min=439.3ms, max=457.9ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms
-  mj_forward_sync: mean=441.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:03:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:03:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/11 00:03:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:03:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:03:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015991m
-[05/11 00:03:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:03:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:03:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:03:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84112973  0.55690103  0.01599141] yaw=-173.3deg
-[05/11 00:03:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:03:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99002919  0.85209355  0.01599141] yaw=-152.6deg
-[05/11 00:03:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:03:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:03:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms
-[05/11 00:03:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.557, 0.016)
-[05/11 00:03:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg
-[05/11 00:03:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.864m
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:03:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:03:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:03:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 00:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/11 00:03:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:03:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:03:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 00:03:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
-[05/11 00:03:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 78.194[deg]
-[05/11 00:03:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:06:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:06:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:06:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:06:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:06:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:06:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.23s, save: 8.73s)
-[05/11 00:07:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
-  episode_total: mean=210.61s, total=210.61s, count=1, min=210608.5ms, max=210608.5ms
-  sensor_polling: mean=533.2ms, total=159.95s, count=300, min=447.6ms, max=1055.4ms
-  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8731.7ms, max=8731.7ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.5ms, max=93.8ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4227.4ms, max=4227.4ms
-  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
-  task_specific_sample: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:07:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:07:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:07:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:07:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:07:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:07:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:07:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/11 00:07:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:07:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:07:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035790m
-[05/11 00:07:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:07:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:07:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92867197  0.57157867  0.0357905 ] yaw=-183.6deg
-[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06516373  1.07079765  0.0357905 ] yaw=-138.6deg
-[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91607437  0.11327503  0.0357905 ] yaw=144.2deg
-[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:07:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:07:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms
-[05/11 00:07:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.572, 0.036)
-[05/11 00:07:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.6 deg
-[05/11 00:07:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
-[05/11 00:07:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:07:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:07:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:07:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:07:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:07:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 00:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 00:07:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:07:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:07:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/11 00:07:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
-[05/11 00:07:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.292[m] 82.256[deg]
-[05/11 00:07:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:07:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:07:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:09:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:10:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:10:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:10:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 279 timesteps
-[05/11 00:10:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:10:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:10:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.68s (batch: 4.32s, save: 8.36s)
-[05/11 00:10:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.55s:
-  episode_total: mean=203.42s, total=203.42s, count=1, min=203419.8ms, max=203419.8ms
-  sensor_polling: mean=549.8ms, total=152.83s, count=278, min=456.0ms, max=1028.4ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8361.5ms, max=8361.5ms
-  physics_step: mean=29.0ms, total=8.06s, count=278, min=19.1ms, max=118.3ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.4ms, max=4323.4ms
-  task_sampling: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms
-  task_specific_sample: mean=549.4ms, total=549.4ms, count=1, min=549.4ms, max=549.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:10:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:10:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/11 00:10:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:10:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:10:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018697m
-[05/11 00:10:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:10:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:10:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:10:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89170485  0.40465601  0.01869745] yaw=168.3deg
-[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65008164  0.68341024  0.01869745] yaw=-175.8deg
-[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00693277  0.8157816   0.01869745] yaw=-151.0deg
-[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:10:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:10:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.2ms
-[05/11 00:10:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.405, 0.019)
-[05/11 00:10:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg
-[05/11 00:10:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:10:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:10:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 00:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
-[05/11 00:10:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.420[m] 102.240[deg]
-[05/11 00:10:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:13:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:13:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:13:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:13:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:13:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:13:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:13:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.24s (batch: 4.49s, save: 8.74s)
-[05/11 00:13:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
-  episode_total: mean=198.41s, total=198.41s, count=1, min=198409.6ms, max=198409.6ms
-  sensor_polling: mean=502.9ms, total=150.87s, count=300, min=446.8ms, max=794.1ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8743.1ms, max=8743.1ms
-  physics_step: mean=25.8ms, total=7.75s, count=300, min=16.0ms, max=53.0ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.8ms, max=4494.8ms
-  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  task_specific_sample: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=441.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:13:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:13:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:13:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:13:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:13:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:13:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:13:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 00:13:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:13:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:13:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060902m
-[05/11 00:13:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:13:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:13:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:13:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82941981  0.00857258  0.06090218] yaw=142.2deg
-[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10926748  1.06259711  0.06090218] yaw=-137.5deg
-[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9947586   0.98309959  0.06090218] yaw=-142.4deg
-[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:13:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:13:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.5ms
-[05/11 00:13:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.009, 0.061)
-[05/11 00:13:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.2 deg
-[05/11 00:13:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/11 00:13:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:13:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:13:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:13:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:13:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 00:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 00:13:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:13:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:13:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 00:13:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.677s, found feasible grasp: True
-[05/11 00:13:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.582[m] 95.125[deg]
-[05/11 00:13:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:13:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:13:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:16:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:16:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:16:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:16:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:17:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:17:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:17:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.37s, save: 8.58s)
-[05/11 00:17:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
-  episode_total: mean=194.50s, total=194.50s, count=1, min=194503.0ms, max=194503.0ms
-  sensor_polling: mean=493.0ms, total=147.89s, count=300, min=460.2ms, max=878.0ms
-  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8584.2ms, max=8584.2ms
-  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.5ms, max=67.4ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.6ms, max=4374.6ms
-  task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms
-  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:17:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:17:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:17:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 00:17:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:17:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:17:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032433m
-[05/11 00:17:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:17:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:17:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93064137  0.081307    0.03243307] yaw=156.0deg
-[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97881197  1.15593387  0.03243307] yaw=-146.9deg
-[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81505736  0.39898725  0.03243307] yaw=172.5deg
-[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:17:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:17:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms
-[05/11 00:17:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.081, 0.032)
-[05/11 00:17:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg
-[05/11 00:17:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.870m
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:17:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:17:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:17:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 00:17:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 00:17:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:17:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:17:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:17:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True
-[05/11 00:17:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.410[m] 88.452[deg]
-[05/11 00:17:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:18:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:19:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
-[05/11 00:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True
-[05/11 00:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.266[deg]
-[05/11 00:19:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:19:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 00:19:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:19:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:19:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/11 00:19:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True
-[05/11 00:19:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]
-[05/11 00:19:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:19:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 00:19:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:19:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:19:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/11 00:19:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.393s, found feasible grasp: True
-[05/11 00:19:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]
-[05/11 00:19:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:19:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:19:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:19:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/11 00:19:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:20:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:20:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:20:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 244 timesteps
-[05/11 00:20:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:20:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:20:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 9.84s (batch: 3.62s, save: 6.22s)
-[05/11 00:20:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
-  episode_total: mean=195.32s, total=195.32s, count=1, min=195317.0ms, max=195317.0ms
-  sensor_polling: mean=503.3ms, total=122.29s, count=243, min=447.8ms, max=818.2ms
-  save_trajectories: mean=6.22s, total=6.22s, count=1, min=6222.5ms, max=6222.5ms
-  physics_step: mean=23.1ms, total=5.60s, count=243, min=12.6ms, max=36.4ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.9ms, max=3620.9ms
-  task_sampling: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
-  task_specific_sample: mean=522.7ms, total=522.7ms, count=1, min=522.7ms, max=522.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:20:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:20:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:20:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/11 00:20:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:20:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:20:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043930m
-[05/11 00:20:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:20:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:20:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91663066  0.44829891  0.04393008] yaw=176.0deg
-[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:20:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:20:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92782478  0.40941618  0.04393008] yaw=174.1deg
-[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76777478  0.43333956  0.04393008] yaw=184.3deg
-[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:20:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:20:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms
-[05/11 00:20:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.448, 0.044)
-[05/11 00:20:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
-[05/11 00:20:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:20:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:20:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:20:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 00:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 00:20:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:20:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:20:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:20:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.465s, found feasible grasp: True
-[05/11 00:20:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 90.816[deg]
-[05/11 00:20:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:21:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:21:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:21:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:21:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
-[05/11 00:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.646s, found feasible grasp: True
-[05/11 00:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.539[deg]
-[05/11 00:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:22:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:22:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:22:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 00:23:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:23:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:23:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/11 00:23:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 5.001s, found feasible grasp: True
-[05/11 00:23:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.574[deg]
-[05/11 00:23:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:23:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:23:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:23:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:23:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/11 00:23:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:23:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:23:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005371m
-[05/11 00:23:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:23:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:23:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:23:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.128627    1.02231112  0.00537099] yaw=-134.7deg
-[05/11 00:23:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:23:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:23:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82425605  0.46446219  0.00537099] yaw=178.3deg
-[05/11 00:23:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:23:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:23:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:23:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97660783  0.84707616  0.00537099] yaw=-151.1deg
-[05/11 00:23:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:23:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:23:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms
-[05/11 00:23:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.022, 0.005)
-[05/11 00:23:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg
-[05/11 00:23:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
-[05/11 00:23:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:23:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:23:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:23:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:23:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:23:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 00:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/11 00:23:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:23:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:23:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 00:23:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True
-[05/11 00:23:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 98.149[deg]
-[05/11 00:23:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:25:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:25:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:25:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:25:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:25:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
-[05/11 00:25:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.361s, found feasible grasp: True
-[05/11 00:25:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.313[deg]
-[05/11 00:25:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:25:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:25:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:25:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/11 00:25:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:25:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:25:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037244m
-[05/11 00:25:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:25:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:25:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78373324  0.23722014  0.03724358] yaw=156.3deg
-[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75729493  0.1657867   0.03724358] yaw=171.4deg
-[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69211738  0.3782578   0.03724358] yaw=170.4deg
-[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:25:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:25:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.7ms
-[05/11 00:25:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.237, 0.037)
-[05/11 00:25:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg
-[05/11 00:25:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:25:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:25:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:25:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 00:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 00:25:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:25:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:25:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 00:25:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True
-[05/11 00:25:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.491[m] 83.767[deg]
-[05/11 00:25:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:28:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:28:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:28:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:28:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:28:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/11 00:28:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True
-[05/11 00:28:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.199[deg]
-[05/11 00:28:22 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:28:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:28:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:28:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
-[05/11 00:28:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:28:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:28:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040236m
-[05/11 00:28:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:28:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:28:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05873521  0.95409354  0.04023558] yaw=-141.0deg
-[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79465555  0.69790454  0.04023558] yaw=-165.6deg
-[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08199218  0.92350861  0.04023558] yaw=-145.1deg
-[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:28:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:28:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms
-[05/11 00:28:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 0.954, 0.040)
-[05/11 00:28:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
-[05/11 00:28:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.798m
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:28:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:28:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 00:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/11 00:28:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:28:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:28:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/11 00:28:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.645s, found feasible grasp: True
-[05/11 00:28:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.340[m] 80.802[deg]
-[05/11 00:28:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:29:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:29:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:31:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:31:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
-[05/11 00:31:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
-[05/11 00:31:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:31:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
-[05/11 00:31:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.03s (batch: 3.79s, save: 8.24s)
-[05/11 00:31:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.96s:
-  episode_total: mean=164.43s, total=657.73s, count=4, min=153836.6ms, max=179299.6ms
-  sensor_polling: mean=468.8ms, total=526.01s, count=1122, min=406.6ms, max=1062.9ms
-  physics_step: mean=21.7ms, total=24.30s, count=1122, min=13.3ms, max=73.6ms
-  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8241.0ms, max=8241.0ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.4ms, max=3791.4ms
-  task_sampling: mean=491.0ms, total=1.96s, count=4, min=348.0ms, max=629.2ms
-  task_specific_sample: mean=487.2ms, total=1.95s, count=4, min=344.8ms, max=624.8ms
-  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=469.7us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/11 00:31:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:31:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
-[05/11 00:31:24 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
-[05/11 00:31:24 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6562.01s
-  House averages:
-  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
-  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
-  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
-  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
-  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
-  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
-  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:31:24 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 00:31:24 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6562.01s
-  Worker averages:
-  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
-  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
-  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
-  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
-  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
-  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
-  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
-  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
-  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
-  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
-  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
-  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
-  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
-  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
-  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
-  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
-  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
-  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 00:31:27 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 00:31:27 INFO pipeline.py:1491] Success count: 14, Total count: 14
-[05/11 00:31:27 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
-==========================================
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-05/11 00:31:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 00:31:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 00:31:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 00:31:53 INFO: {'batch_num': 2,
- 'benchmark_path': None,
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-                                'fov_noise_degrees': None,
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-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x710346a62690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21202,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 00:31:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 00:31:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 00:31:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 00:31:54 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f11fb08b950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21203,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 00:31:54 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x79e3f2140710>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21204,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 00:31:54 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73413ffe8c90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21201,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 00:31:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 00:31:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 00:31:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 00:31:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 00:31:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 00:31:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:31:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:31:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:31:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:31:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072457m	[env.py: 870]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:31:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79703873  0.4237756   0.07245704] yaw=172.4deg	[env.py: 1019]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02872824  1.22802633  0.07245704] yaw=-128.5deg	[env.py: 1019]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63134984  0.54529931  0.07245704] yaw=-165.9deg	[env.py: 1019]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:31:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=118.3ms, total=130.4ms	[env.py: 1075]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.424, 0.072)	[env.py: 1079]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
-05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031160m	[env.py: 870]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073737m	[env.py: 870]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09490439  1.07504864  0.0311603 ] yaw=-136.0deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:31:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00394469  0.98809626  0.0311603 ] yaw=-132.8deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88382103  0.75091782  0.0311603 ] yaw=-157.6deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.0ms, retries=266.7ms, total=278.7ms	[env.py: 1075]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.075, 0.031)	[env.py: 1079]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069104m	[env.py: 870]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76412524  0.95428965  0.07373731] yaw=-164.3deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74877214  0.51798261  0.06910422] yaw=-177.7deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97319632  1.19036629  0.07373731] yaw=-133.1deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.7ms, retries=618.9ms, total=642.5ms	[env.py: 1075]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.954, 0.074)	[env.py: 1079]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg	[env.py: 1082]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:31:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73395878  0.77280032  0.06910422] yaw=-156.1deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77301674  0.72398382  0.06910422] yaw=-160.5deg	[env.py: 1019]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=44.2ms, retries=502.9ms, total=547.1ms	[env.py: 1075]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.518, 0.069)	[env.py: 1079]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
-05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:31:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:31:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 31.943s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:32:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:32:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.436[m] 83.949[deg]	[grasp_sample.py: 539]
-05/11 00:32:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 32.338s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 32.232s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:32:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.769s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:32:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.568[deg]	[grasp_sample.py: 539]
-05/11 00:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 33.067s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:32:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:32:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:32:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.987[deg]	[grasp_sample.py: 539]
-05/11 00:32:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.956s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:32:42 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.609[m] 92.309[deg]	[grasp_sample.py: 539]
-05/11 00:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:33:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:33:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:33:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:33:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:34:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:34:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:34:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:34:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:34:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:34:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:34:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:34:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:34:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.464[deg]	[grasp_sample.py: 539]
-05/11 00:34:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:34:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:34:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:34:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:35:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:35:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:35:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:35:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:35:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:35:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:35:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.232[deg]	[grasp_sample.py: 539]
-05/11 00:35:16 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:35:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:35:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:35:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085219m	[env.py: 870]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97920217  0.86561529  0.08521921] yaw=-155.3deg	[env.py: 1019]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90656725  0.10595769  0.08521921] yaw=156.3deg	[env.py: 1019]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9327433   0.49607284  0.08521921] yaw=-177.4deg	[env.py: 1019]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.0ms, total=121.0ms	[env.py: 1075]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.866, 0.085)	[env.py: 1079]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
-05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:35:19 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:35:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:35:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:35:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:35:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:35:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 75.004[deg]	[grasp_sample.py: 539]
-05/11 00:35:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:35:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:35:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:35:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:35:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:35:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:35:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:35:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:35:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:35:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:35:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:35:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:35:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:35:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:35:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:35:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:35:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:35:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.03s (batch: 5.12s, save: 8.91s)	[pipeline.py: 300]
-05/11 00:35:59 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.31s:
-  episode_total: mean=245.03s, total=245.03s, count=1, min=245031.3ms, max=245031.3ms
-  sensor_polling: mean=512.4ms, total=153.72s, count=300, min=447.4ms, max=744.7ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.4ms, max=8912.4ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.3ms, max=86.2ms
-  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5119.9ms, max=5119.9ms
-  task_sampling: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  task_specific_sample: mean=843.5ms, total=843.5ms, count=1, min=843.5ms, max=843.5ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=632.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:36:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097417m	[env.py: 870]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75602017  0.89358059  0.09741725] yaw=-166.8deg	[env.py: 1019]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97022408  1.12981366  0.09741725] yaw=-141.7deg	[env.py: 1019]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7988714   1.09157473  0.09741725] yaw=-146.0deg	[env.py: 1019]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.2ms, total=258.2ms	[env.py: 1075]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.894, 0.097)	[env.py: 1079]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
-05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:36:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:36:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:36:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:36:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.15s (batch: 4.01s, save: 9.14s)	[pipeline.py: 300]
-05/11 00:36:06 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.37s:
-  episode_total: mean=252.99s, total=252.99s, count=1, min=252989.3ms, max=252989.3ms
-  sensor_polling: mean=515.4ms, total=154.61s, count=300, min=455.8ms, max=802.0ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9139.8ms, max=9139.8ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=14.7ms, max=89.7ms
-  task_sampling: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.6ms, max=4009.6ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  task_specific_sample: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=399.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:36:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.144s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:36:07 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.618[m] 89.411[deg]	[grasp_sample.py: 539]
-05/11 00:36:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:36:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:36:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:36:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:36:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:36:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:36:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:36:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:36:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023439m	[env.py: 870]
-05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:36:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:36:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0362622   1.27565532  0.02343864] yaw=-130.2deg	[env.py: 1019]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=830.8ms, total=830.8ms	[env.py: 1075]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.276, 0.023)	[env.py: 1079]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
-05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
-05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:36:09 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:36:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:36:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:36:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:36:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:36:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:36:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.29s (batch: 4.68s, save: 11.61s)	[pipeline.py: 300]
-05/11 00:36:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:36:15 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.654[m] 87.640[deg]	[grasp_sample.py: 539]
-05/11 00:36:16 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.56s:
-  episode_total: mean=261.53s, total=261.53s, count=1, min=261529.0ms, max=261529.0ms
-  sensor_polling: mean=527.2ms, total=158.17s, count=300, min=446.0ms, max=866.2ms
-  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11612.7ms, max=11612.7ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=17.2ms, max=129.4ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.2ms, max=4677.2ms
-  task_sampling: mean=4.55s, total=4.55s, count=1, min=4555.0ms, max=4555.0ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1039.6ms, max=1039.6ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=388.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=45.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:36:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049903m	[env.py: 870]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90075782  0.38807623  0.04990331] yaw=177.4deg	[env.py: 1019]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94787856  1.02740991  0.04990331] yaw=-151.9deg	[env.py: 1019]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90776025  0.35156427  0.04990331] yaw=170.2deg	[env.py: 1019]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=636.4ms, total=636.5ms	[env.py: 1075]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.388, 0.050)	[env.py: 1079]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg	[env.py: 1082]
-05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:36:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:36:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:36:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:36:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:36:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016345m	[env.py: 870]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6822468   0.60382898  0.01634511] yaw=-183.7deg	[env.py: 1019]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96354361  0.29673132  0.01634511] yaw=169.4deg	[env.py: 1019]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93632152  0.51046456  0.01634511] yaw=-183.0deg	[env.py: 1019]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms	[env.py: 1075]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.604, 0.016)	[env.py: 1079]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg	[env.py: 1082]
-05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:36:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:36:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.355[m] 86.191[deg]	[grasp_sample.py: 539]
-05/11 00:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:36:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:36:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:36:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:36:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:36:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:36:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:36:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:36:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 80.649[deg]	[grasp_sample.py: 539]
-05/11 00:36:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:36:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:36:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:36:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:37:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:37:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:37:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:37:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:37:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:37:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:37:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:37:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:38:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:38:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:38:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:38:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:38:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:38:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:38:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.217[deg]	[grasp_sample.py: 539]
-05/11 00:38:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:38:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:38:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:38:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:38:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:38:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049728m	[env.py: 870]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6620719   0.61116951  0.04972796] yaw=-162.0deg	[env.py: 1019]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6748658   0.6162039   0.04972796] yaw=-167.1deg	[env.py: 1019]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.3ms	[env.py: 1075]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.611, 0.050)	[env.py: 1079]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
-05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:38:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:38:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:38:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:38:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:38:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:38:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:38:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 85.943[deg]	[grasp_sample.py: 539]
-05/11 00:38:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:38:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:38:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:38:29 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:38:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:38:29 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/11 00:38:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:38:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:38:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.79s (batch: 4.21s, save: 9.57s)	[pipeline.py: 300]
-05/11 00:38:43 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.13s:
-  episode_total: mean=203.83s, total=407.66s, count=2, min=202391.6ms, max=205267.7ms
-  sensor_polling: mean=517.9ms, total=294.67s, count=569, min=430.9ms, max=972.5ms
-  physics_step: mean=24.2ms, total=13.75s, count=569, min=17.1ms, max=91.3ms
-  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9574.9ms, max=9574.9ms
-  task_sampling: mean=2.57s, total=5.13s, count=2, min=603.1ms, max=4530.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.1ms, max=4213.1ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  task_specific_sample: mean=651.7ms, total=1.30s, count=2, min=599.8ms, max=703.6ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
-  mj_forward_sync: mean=451.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=33.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:38:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:38:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:38:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:38:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:38:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:38:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:38:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094684m	[env.py: 870]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:38:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81100144  0.01318435  0.09468424] yaw=147.4deg	[env.py: 1019]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.1ms, total=179.2ms	[env.py: 1075]
-05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.013, 0.095)	[env.py: 1079]
-05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.4 deg	[env.py: 1082]
-05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
-05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:38:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:38:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:38:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:38:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:38:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:38:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.094s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:38:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.598[m] 96.121[deg]	[grasp_sample.py: 539]
-05/11 00:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:38:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:38:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:38:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:39:08 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:39:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:39:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:39:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:39:34 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:39:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:39:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:39:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:39:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:39:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 17.50s (batch: 4.61s, save: 12.89s)	[pipeline.py: 300]
-05/11 00:39:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.54s:
-  episode_total: mean=217.75s, total=217.75s, count=1, min=217754.4ms, max=217754.4ms
-  sensor_polling: mean=523.4ms, total=157.03s, count=300, min=452.6ms, max=924.0ms
-  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12890.2ms, max=12890.2ms
-  physics_step: mean=24.8ms, total=7.44s, count=300, min=18.4ms, max=71.5ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.3ms, max=4607.3ms
-  task_sampling: mean=539.4ms, total=539.4ms, count=1, min=539.4ms, max=539.4ms
-  task_specific_sample: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:39:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:39:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076180m	[env.py: 870]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98513379  1.30186954  0.07618025] yaw=-131.7deg	[env.py: 1019]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms	[env.py: 1075]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.302, 0.076)	[env.py: 1079]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
-05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:39:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:39:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:39:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:39:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.697s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 00:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 00:39:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:39:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:39:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095163m	[env.py: 870]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9915143   0.73798901  0.09516297] yaw=-166.4deg	[env.py: 1019]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67673016  0.57475667  0.09516297] yaw=-169.1deg	[env.py: 1019]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81296799  0.37082029  0.09516297] yaw=166.5deg	[env.py: 1019]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=514.9ms, total=514.9ms	[env.py: 1075]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.738, 0.095)	[env.py: 1079]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
-05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:39:45 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:39:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:39:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:39:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:39:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 90.977[deg]	[grasp_sample.py: 539]
-05/11 00:39:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:39:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:39:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:39:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:39:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:39:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.92s (batch: 5.03s, save: 9.88s)	[pipeline.py: 300]
-05/11 00:39:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.60s:
-  episode_total: mean=109.84s, total=219.68s, count=2, min=8707.6ms, max=210975.1ms
-  sensor_polling: mean=520.1ms, total=156.02s, count=300, min=453.2ms, max=1059.9ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9881.8ms, max=9881.8ms
-  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.6ms, max=84.5ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5034.4ms, max=5034.4ms
-  task_sampling: mean=800.5ms, total=1.60s, count=2, min=499.0ms, max=1102.0ms
-  task_specific_sample: mean=796.2ms, total=1.59s, count=2, min=495.5ms, max=1096.9ms
-  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
-  mj_forward_sync: mean=606.9us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=27.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:39:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:39:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:39:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061028m	[env.py: 870]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97253211  0.95913948  0.06102845] yaw=-152.9deg	[env.py: 1019]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76421274  0.89554437  0.06102845] yaw=-154.6deg	[env.py: 1019]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99722467  1.02483745  0.06102845] yaw=-142.8deg	[env.py: 1019]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms	[env.py: 1075]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.959, 0.061)	[env.py: 1079]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
-05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:39:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:39:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:39:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:39:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:39:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 96.885[deg]	[grasp_sample.py: 539]
-05/11 00:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:39:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:39:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:40:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:40:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:40:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:40:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:41:09 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:41:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:41:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:41:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:41:39 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.88s (batch: 4.27s, save: 9.61s)	[pipeline.py: 300]
-05/11 00:41:46 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.44s:
-  episode_total: mean=163.16s, total=326.32s, count=2, min=118299.9ms, max=208022.8ms
-  sensor_polling: mean=525.8ms, total=255.01s, count=485, min=441.3ms, max=1092.0ms
-  physics_step: mean=24.6ms, total=11.95s, count=485, min=15.4ms, max=132.9ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9613.9ms, max=9613.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
-  task_sampling: mean=722.3ms, total=1.44s, count=2, min=519.7ms, max=924.9ms
-  task_specific_sample: mean=718.5ms, total=1.44s, count=2, min=516.5ms, max=920.5ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=479.0us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:41:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:41:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:41:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027709m	[env.py: 870]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00318048  1.01292841  0.0277086 ] yaw=-145.8deg	[env.py: 1019]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64626573  0.31438186  0.0277086 ] yaw=175.8deg	[env.py: 1019]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.701376    0.58884135  0.0277086 ] yaw=-177.8deg	[env.py: 1019]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=502.4ms, total=502.5ms	[env.py: 1075]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.013, 0.028)	[env.py: 1079]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
-05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:41:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:41:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:41:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:41:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:41:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:41:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:41:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:41:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.126[deg]	[grasp_sample.py: 539]
-05/11 00:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:41:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:41:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:42:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:42:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:42:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:42:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:42:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.22s (batch: 4.79s, save: 11.43s)	[pipeline.py: 300]
-05/11 00:42:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.46s:
-  episode_total: mean=215.95s, total=215.95s, count=1, min=215950.4ms, max=215950.4ms
-  sensor_polling: mean=521.8ms, total=156.53s, count=300, min=452.5ms, max=887.1ms
-  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11432.1ms, max=11432.1ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.5ms, max=89.4ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4792.7ms, max=4792.7ms
-  task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
-  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=595.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:42:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:42:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022767m	[env.py: 870]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68773587  0.3700653   0.02276685] yaw=182.2deg	[env.py: 1019]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67430075  0.66295777  0.02276685] yaw=-168.0deg	[env.py: 1019]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9383255   1.15625671  0.02276685] yaw=-127.8deg	[env.py: 1019]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.8ms	[env.py: 1075]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.370, 0.023)	[env.py: 1079]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg	[env.py: 1082]
-05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:42:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:42:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:42:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:42:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:42:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:42:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:42:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 101.935[deg]	[grasp_sample.py: 539]
-05/11 00:42:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:42:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:42:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:42:29 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:42:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:42:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:42:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:42:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:42:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:42:57 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/11 00:42:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:43:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:43:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:43:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:43:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:43:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:43:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.31s, save: 9.02s)	[pipeline.py: 300]
-05/11 00:43:11 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
-  episode_total: mean=104.65s, total=209.29s, count=2, min=2377.2ms, max=206916.4ms
-  sensor_polling: mean=527.7ms, total=152.50s, count=289, min=457.8ms, max=901.4ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.8ms, max=9024.8ms
-  physics_step: mean=25.3ms, total=7.31s, count=289, min=17.9ms, max=85.1ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.9ms, max=4314.9ms
-  task_sampling: mean=669.7ms, total=1.34s, count=2, min=530.0ms, max=809.3ms
-  task_specific_sample: mean=666.4ms, total=1.33s, count=2, min=526.3ms, max=806.4ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=412.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:43:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:43:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:43:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:43:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:43:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:43:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:43:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033044m	[env.py: 870]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:43:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89485653  0.58131449  0.03304378] yaw=-175.7deg	[env.py: 1019]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04921043  1.27014876  0.03304378] yaw=-139.0deg	[env.py: 1019]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94781425  0.74960878  0.03304378] yaw=-164.4deg	[env.py: 1019]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms	[env.py: 1075]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.581, 0.033)	[env.py: 1079]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
-05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:43:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:43:14 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:43:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:43:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:43:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:43:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:43:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.406[m] 101.025[deg]	[grasp_sample.py: 539]
-05/11 00:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:43:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:43:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:43:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:43:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:43:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.34s (batch: 4.47s, save: 10.86s)	[pipeline.py: 300]
-05/11 00:43:22 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
-  episode_total: mean=209.84s, total=209.84s, count=1, min=209840.0ms, max=209840.0ms
-  sensor_polling: mean=512.2ms, total=153.67s, count=300, min=452.1ms, max=929.5ms
-  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.4ms, max=10864.4ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.5ms, max=119.1ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
-  task_sampling: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
-  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:43:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:43:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:43:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:43:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:43:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:43:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:43:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083086m	[env.py: 870]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:43:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03485443  0.83742156  0.08308624] yaw=-160.5deg	[env.py: 1019]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6729336   0.39702582  0.08308624] yaw=173.3deg	[env.py: 1019]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88909269  0.42279257  0.08308624] yaw=186.7deg	[env.py: 1019]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:43:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms	[env.py: 1075]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.837, 0.083)	[env.py: 1079]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg	[env.py: 1082]
-05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:43:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:43:24 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:43:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:43:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:43:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:43:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:43:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.221s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:43:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 92.489[deg]	[grasp_sample.py: 539]
-05/11 00:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:43:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:43:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:43:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:43:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:44:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:44:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:44:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:44:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:44:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:44:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:44:39 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:45:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:45:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:45:10 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:45:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:45:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 4.82s, save: 9.54s)	[pipeline.py: 300]
-05/11 00:45:17 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.79s:
-  episode_total: mean=209.38s, total=209.38s, count=1, min=209384.5ms, max=209384.5ms
-  sensor_polling: mean=517.7ms, total=155.30s, count=300, min=434.7ms, max=1047.5ms
-  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9537.6ms, max=9537.6ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.0ms, max=131.7ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.6ms, max=4823.6ms
-  task_sampling: mean=794.3ms, total=794.3ms, count=1, min=794.3ms, max=794.3ms
-  task_specific_sample: mean=790.0ms, total=790.0ms, count=1, min=790.0ms, max=790.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=536.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:45:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069934m	[env.py: 870]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94098893  0.67006087  0.06993384] yaw=-159.3deg	[env.py: 1019]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94263695  0.93391546  0.06993384] yaw=-138.1deg	[env.py: 1019]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95753268  0.6355937   0.06993384] yaw=-166.0deg	[env.py: 1019]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms	[env.py: 1075]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.670, 0.070)	[env.py: 1079]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.3 deg	[env.py: 1082]
-05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:45:19 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:45:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 87.337[deg]	[grasp_sample.py: 539]
-05/11 00:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:45:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:45:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:45:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:45:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:45:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:45:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:45:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.32s (batch: 4.50s, save: 8.81s)	[pipeline.py: 300]
-05/11 00:45:50 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=207.26s, total=207.26s, count=1, min=207264.0ms, max=207264.0ms
-  sensor_polling: mean=513.9ms, total=154.17s, count=300, min=442.8ms, max=999.0ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.4ms, max=8811.4ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=17.1ms, max=128.7ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.0ms, max=4504.0ms
-  task_sampling: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
-  task_specific_sample: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:45:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:45:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:45:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:45:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:45:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:45:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087919m	[env.py: 870]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:45:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74510075  0.03820371  0.0879185 ] yaw=150.1deg	[env.py: 1019]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95035402  0.53996909  0.0879185 ] yaw=-185.1deg	[env.py: 1019]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93903755  0.2303884   0.0879185 ] yaw=153.1deg	[env.py: 1019]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:45:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.4ms	[env.py: 1075]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.038, 0.088)	[env.py: 1079]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
-05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:45:52 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:45:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:45:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:45:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:45:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:45:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:45:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.621[m] 91.433[deg]	[grasp_sample.py: 539]
-05/11 00:45:55 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:45:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:45:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:45:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:45:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:45:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047052m	[env.py: 870]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79221895  1.02478728  0.04705247] yaw=-147.3deg	[env.py: 1019]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63712943  0.40846091  0.04705247] yaw=183.5deg	[env.py: 1019]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92338768  0.65964233  0.04705247] yaw=-177.9deg	[env.py: 1019]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:45:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.5ms, total=375.5ms	[env.py: 1075]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 1.025, 0.047)	[env.py: 1079]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:45:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:45:58 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:45:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:45:58 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:46:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.607s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:46:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.663[m] 79.538[deg]	[grasp_sample.py: 539]
-05/11 00:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:46:06 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:46:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:46:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:46:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:46:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:46:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:46:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:46:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:46:30 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/11 00:46:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:46:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:46:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.60s (batch: 4.67s, save: 11.93s)	[pipeline.py: 300]
-05/11 00:46:43 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=209.55s, total=209.55s, count=1, min=209552.9ms, max=209552.9ms
-  sensor_polling: mean=510.1ms, total=153.03s, count=300, min=435.6ms, max=1035.2ms
-  save_trajectories: mean=11.93s, total=11.93s, count=1, min=11927.5ms, max=11927.5ms
-  physics_step: mean=24.0ms, total=7.21s, count=300, min=18.2ms, max=78.8ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.6ms, max=4673.6ms
-  task_sampling: mean=492.2ms, total=492.2ms, count=1, min=492.2ms, max=492.2ms
-  task_specific_sample: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:46:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:46:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:46:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:46:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:46:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:46:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:46:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009764m	[env.py: 870]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:46:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89126526  0.04043431  0.00976432] yaw=160.1deg	[env.py: 1019]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64487533  0.47083144  0.00976432] yaw=180.1deg	[env.py: 1019]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:46:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms	[env.py: 1075]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.040, 0.010)	[env.py: 1079]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
-05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:46:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:46:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:46:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:46:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:46:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:46:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:46:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:46:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 94.681[deg]	[grasp_sample.py: 539]
-05/11 00:46:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:46:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:46:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:46:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:46:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:46:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.62s (batch: 5.17s, save: 11.45s)	[pipeline.py: 300]
-05/11 00:46:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
-  episode_total: mean=203.88s, total=203.88s, count=1, min=203884.0ms, max=203884.0ms
-  sensor_polling: mean=509.9ms, total=149.40s, count=293, min=444.3ms, max=898.2ms
-  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11451.4ms, max=11451.4ms
-  physics_step: mean=25.6ms, total=7.50s, count=293, min=18.0ms, max=97.9ms
-  save_batch_prep: mean=5.17s, total=5.17s, count=1, min=5167.0ms, max=5167.0ms
-  task_sampling: mean=501.4ms, total=501.4ms, count=1, min=501.4ms, max=501.4ms
-  task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=512.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:46:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:46:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:46:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:46:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:46:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090132m	[env.py: 870]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90043258  0.59141735  0.09013177] yaw=-176.3deg	[env.py: 1019]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89834219  0.58001214  0.09013177] yaw=-176.1deg	[env.py: 1019]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87171622  0.33409877  0.09013177] yaw=180.9deg	[env.py: 1019]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:46:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1075]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.591, 0.090)	[env.py: 1079]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
-05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
-05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:46:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:46:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:46:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:46:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:46:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:46:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:46:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.379[m] 88.408[deg]	[grasp_sample.py: 539]
-05/11 00:46:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:47:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:47:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:48:01 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:48:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:48:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:48:23 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/11 00:48:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:48:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:48:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.18s (batch: 4.51s, save: 8.67s)	[pipeline.py: 300]
-05/11 00:48:37 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=198.10s, total=198.10s, count=1, min=198096.4ms, max=198096.4ms
-  sensor_polling: mean=516.1ms, total=148.63s, count=288, min=440.6ms, max=822.1ms
-  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.0ms, max=8669.0ms
-  physics_step: mean=25.2ms, total=7.25s, count=288, min=14.8ms, max=58.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4508.3ms, max=4508.3ms
-  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
-  task_specific_sample: mean=470.7ms, total=470.7ms, count=1, min=470.7ms, max=470.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:48:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:48:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:48:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:48:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061277m	[env.py: 870]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95067     0.4779803   0.06127664] yaw=180.6deg	[env.py: 1019]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69789322  0.27156207  0.06127664] yaw=168.6deg	[env.py: 1019]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66926416  0.85339012  0.06127664] yaw=-164.0deg	[env.py: 1019]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=546.5ms, total=546.5ms	[env.py: 1075]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.478, 0.061)	[env.py: 1079]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.6 deg	[env.py: 1082]
-05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:48:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:48:40 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:48:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:48:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:48:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.285[m] 90.192[deg]	[grasp_sample.py: 539]
-05/11 00:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:48:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:48:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:48:46 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:49:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:49:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:49:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:49:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.65s (batch: 4.61s, save: 11.04s)	[pipeline.py: 300]
-05/11 00:49:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
-  episode_total: mean=106.31s, total=212.63s, count=2, min=3417.0ms, max=209209.8ms
-  sensor_polling: mean=501.3ms, total=150.40s, count=300, min=427.7ms, max=894.5ms
-  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11038.5ms, max=11038.5ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.2ms, max=112.5ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.1ms, max=4607.1ms
-  task_sampling: mean=585.2ms, total=1.17s, count=2, min=518.5ms, max=651.9ms
-  task_specific_sample: mean=581.2ms, total=1.16s, count=2, min=513.8ms, max=648.5ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
-  mj_forward_sync: mean=556.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:49:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:49:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:49:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000409m	[env.py: 870]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-7.68158897e-01  3.28490743e-01  4.09137457e-04] yaw=176.4deg	[env.py: 1019]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-7.39010607e-01  9.41711776e-01  4.09137457e-04] yaw=-147.0deg	[env.py: 1019]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.52533349e-01  3.16823200e-01  4.09137457e-04] yaw=162.3deg	[env.py: 1019]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.8ms, total=418.8ms	[env.py: 1075]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.328, 0.000)	[env.py: 1079]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg	[env.py: 1082]
-05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:49:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:49:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:49:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:49:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:49:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 96.177[deg]	[grasp_sample.py: 539]
-05/11 00:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:49:41 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:50:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:50:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:50:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:50:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:50:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:50:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:50:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.318[deg]	[grasp_sample.py: 539]
-05/11 00:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:50:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:50:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:50:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:50:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:50:10 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/11 00:50:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:50:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:50:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:50:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.23s (batch: 4.58s, save: 10.65s)	[pipeline.py: 300]
-05/11 00:50:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
-  episode_total: mean=216.71s, total=216.71s, count=1, min=216707.4ms, max=216707.4ms
-  sensor_polling: mean=525.4ms, total=156.05s, count=297, min=451.8ms, max=866.0ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.3ms, max=10645.3ms
-  physics_step: mean=27.5ms, total=8.17s, count=297, min=18.0ms, max=76.8ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4584.7ms, max=4584.7ms
-  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  task_specific_sample: mean=399.0ms, total=399.0ms, count=1, min=399.0ms, max=399.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:50:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:50:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:50:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:50:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:50:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:50:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:50:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079126m	[env.py: 870]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:50:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72542115  0.54700934  0.07912559] yaw=-167.5deg	[env.py: 1019]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67990677  0.77256379  0.07912559] yaw=-159.0deg	[env.py: 1019]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69315193  0.34756244  0.07912559] yaw=163.9deg	[env.py: 1019]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms	[env.py: 1075]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.547, 0.079)	[env.py: 1079]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:50:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:50:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:50:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:50:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:50:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:50:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 92.399[deg]	[grasp_sample.py: 539]
-05/11 00:50:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:50:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:50:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:50:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:50:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:50:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:50:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:50:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:50:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:50:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.45s (batch: 4.52s, save: 8.93s)	[pipeline.py: 300]
-05/11 00:50:50 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=245.56s, total=245.56s, count=1, min=245561.7ms, max=245561.7ms
-  sensor_polling: mean=516.8ms, total=155.05s, count=300, min=456.8ms, max=1162.8ms
-  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8932.3ms, max=8932.3ms
-  physics_step: mean=25.9ms, total=7.76s, count=300, min=15.2ms, max=93.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.4ms, max=4522.4ms
-  task_sampling: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
-  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=473.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:50:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:50:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026368m	[env.py: 870]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96495249  0.34149481  0.02636788] yaw=162.8deg	[env.py: 1019]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96215397  1.10179202  0.02636788] yaw=-144.4deg	[env.py: 1019]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19852704  1.08827145  0.02636788] yaw=-135.4deg	[env.py: 1019]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.341, 0.026)	[env.py: 1079]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
-05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:50:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:50:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:50:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:50:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:50:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:50:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:50:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.290[deg]	[grasp_sample.py: 539]
-05/11 00:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:50:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:50:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:51:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:51:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:51:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:51:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:51:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:51:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:51:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:51:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:51:44 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/11 00:51:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:51:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:51:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:51:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.06s (batch: 4.18s, save: 10.88s)	[pipeline.py: 300]
-05/11 00:52:00 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.85s:
-  episode_total: mean=201.34s, total=201.34s, count=1, min=201337.3ms, max=201337.3ms
-  sensor_polling: mean=531.8ms, total=147.30s, count=277, min=451.0ms, max=1004.3ms
-  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.1ms, max=10880.1ms
-  physics_step: mean=28.0ms, total=7.76s, count=277, min=18.1ms, max=69.6ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.1ms, max=4183.1ms
-  task_sampling: mean=853.0ms, total=853.0ms, count=1, min=853.0ms, max=853.0ms
-  task_specific_sample: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:52:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:52:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066349m	[env.py: 870]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:52:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91207555  0.26156429  0.0663489 ] yaw=167.2deg	[env.py: 1019]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84854508  0.12651558  0.0663489 ] yaw=146.2deg	[env.py: 1019]
-05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81526875  0.25258478  0.0663489 ] yaw=173.5deg	[env.py: 1019]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=620.4ms, total=620.5ms	[env.py: 1075]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.262, 0.066)	[env.py: 1079]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg	[env.py: 1082]
-05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:52:03 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:52:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:52:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:52:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:52:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:52:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:52:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.386[m] 89.506[deg]	[grasp_sample.py: 539]
-05/11 00:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:52:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:52:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:52:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:52:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:52:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:52:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:52:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:52:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.210[deg]	[grasp_sample.py: 539]
-05/11 00:52:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:52:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:52:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:52:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:52:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:52:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:52:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:52:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:52:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:52:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.84s (batch: 4.55s, save: 9.29s)	[pipeline.py: 300]
-05/11 00:52:58 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.73s:
-  episode_total: mean=210.24s, total=210.24s, count=1, min=210236.5ms, max=210236.5ms
-  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=441.2ms, max=949.4ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.8ms, max=9287.8ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=69.0ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.0ms, max=4553.0ms
-  task_sampling: mean=727.0ms, total=727.0ms, count=1, min=727.0ms, max=727.0ms
-  task_specific_sample: mean=722.3ms, total=722.3ms, count=1, min=722.3ms, max=722.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:52:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:53:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:53:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:53:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m	[env.py: 870]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10472766  1.00752333  0.06463532] yaw=-140.5deg	[env.py: 1019]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:53:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=509.9ms, total=510.0ms	[env.py: 1075]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.008, 0.065)	[env.py: 1079]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
-05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:53:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:53:01 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:53:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:53:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:53:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:53:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:53:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 80.329[deg]	[grasp_sample.py: 539]
-05/11 00:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:53:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:53:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:53:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:53:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:53:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:53:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.450[deg]	[grasp_sample.py: 539]
-05/11 00:53:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:53:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:53:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:53:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094401m	[env.py: 870]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79820358  1.1010736   0.09440148] yaw=-137.6deg	[env.py: 1019]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08342142  1.00509624  0.09440148] yaw=-134.6deg	[env.py: 1019]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14293041  1.03714711  0.09440148] yaw=-146.4deg	[env.py: 1019]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.5ms, total=114.5ms	[env.py: 1075]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 1.101, 0.094)	[env.py: 1079]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
-05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:53:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:53:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:53:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:53:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.093s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:53:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.707[m] 95.636[deg]	[grasp_sample.py: 539]
-05/11 00:53:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:53:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:53:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:53:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 00:53:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:53:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:53:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:53:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.33s (batch: 4.34s, save: 8.99s)	[pipeline.py: 300]
-05/11 00:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:53:59 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
-  episode_total: mean=211.45s, total=211.45s, count=1, min=211446.9ms, max=211446.9ms
-  sensor_polling: mean=532.2ms, total=159.67s, count=300, min=464.9ms, max=964.7ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.1ms, max=8989.1ms
-  physics_step: mean=24.6ms, total=7.39s, count=300, min=15.3ms, max=67.6ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.9ms, max=4338.9ms
-  task_sampling: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
-  task_specific_sample: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=384.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:54:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:54:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:54:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:54:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:54:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045202m	[env.py: 870]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16087066  1.03945931  0.04520151] yaw=-127.4deg	[env.py: 1019]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10642694  1.22571936  0.04520151] yaw=-119.1deg	[env.py: 1019]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99267228  1.2174553   0.04520151] yaw=-133.7deg	[env.py: 1019]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.6ms	[env.py: 1075]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.161, 1.039, 0.045)	[env.py: 1079]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg	[env.py: 1082]
-05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:54:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:54:02 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:54:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:54:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:54:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:54:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:54:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:54:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 94.162[deg]	[grasp_sample.py: 539]
-05/11 00:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:54:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:54:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.169[deg]	[grasp_sample.py: 539]
-05/11 00:54:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:54:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:54:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:54:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:54:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022520m	[env.py: 870]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92858926  1.04154216  0.02251965] yaw=-134.7deg	[env.py: 1019]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:54:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.9ms	[env.py: 1075]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.042, 0.023)	[env.py: 1079]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
-05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:54:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:54:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:54:10 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.551[m] 89.450[deg]	[grasp_sample.py: 539]
-05/11 00:54:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:54:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:54:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:54:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:54:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:54:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:54:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:55:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:55:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:55:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:55:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:55:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:55:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:55:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:55:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.734s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:55:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]	[grasp_sample.py: 539]
-05/11 00:55:59 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:56:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:56:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:56:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:56:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:56:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:56:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:56:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011196m	[env.py: 870]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:56:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79223216  0.25844613  0.01119644] yaw=177.5deg	[env.py: 1019]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66756092  0.7413375   0.01119644] yaw=-160.5deg	[env.py: 1019]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83090592  0.80556625  0.01119644] yaw=-149.0deg	[env.py: 1019]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.4ms, total=284.4ms	[env.py: 1075]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.258, 0.011)	[env.py: 1079]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
-05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:56:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:56:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:56:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:56:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:56:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:56:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:56:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 82.741[deg]	[grasp_sample.py: 539]
-05/11 00:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:56:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:56:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:56:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 00:56:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:56:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:56:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:56:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:56:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:56:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.618[deg]	[grasp_sample.py: 539]
-05/11 00:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:56:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:56:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:56:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:56:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:56:33 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:56:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:56:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:56:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:56:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:56:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]	[grasp_sample.py: 539]
-05/11 00:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:56:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:56:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:56:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:56:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043174m	[env.py: 870]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07783071  1.09688986  0.0431744 ] yaw=-146.4deg	[env.py: 1019]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87600809  0.46788561  0.0431744 ] yaw=177.4deg	[env.py: 1019]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79890149  0.03924415  0.0431744 ] yaw=143.9deg	[env.py: 1019]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:56:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.097, 0.043)	[env.py: 1079]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg	[env.py: 1082]
-05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:56:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:56:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:56:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:56:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 87.067[deg]	[grasp_sample.py: 539]
-05/11 00:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:56:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:56:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:57:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 00:57:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:57:00 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:57:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:57:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:57:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:57:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.00s (batch: 4.34s, save: 8.67s)	[pipeline.py: 300]
-05/11 00:57:13 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.81s:
-  episode_total: mean=189.95s, total=379.90s, count=2, min=167380.4ms, max=212520.4ms
-  sensor_polling: mean=528.9ms, total=275.01s, count=520, min=438.4ms, max=1208.8ms
-  physics_step: mean=25.7ms, total=13.34s, count=520, min=13.7ms, max=120.1ms
-  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8666.5ms, max=8666.5ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.0ms, max=4335.0ms
-  task_sampling: mean=403.2ms, total=806.3ms, count=2, min=400.9ms, max=405.4ms
-  task_specific_sample: mean=399.7ms, total=799.4ms, count=2, min=397.6ms, max=401.8ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=420.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:57:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:57:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:57:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:57:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:57:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:57:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:57:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005592m	[env.py: 870]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:57:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92539158  0.32934765  0.00559181] yaw=174.0deg	[env.py: 1019]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79561786  1.0933088   0.00559181] yaw=-136.8deg	[env.py: 1019]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81352595  0.8917951   0.00559181] yaw=-165.5deg	[env.py: 1019]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:57:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms	[env.py: 1075]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.329, 0.006)	[env.py: 1079]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
-05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:57:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:57:15 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:57:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:57:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:57:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:57:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:57:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:57:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 92.831[deg]	[grasp_sample.py: 539]
-05/11 00:57:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:57:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:57:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 00:57:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:57:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:57:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:57:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.93s (batch: 4.37s, save: 8.56s)	[pipeline.py: 300]
-05/11 00:57:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=165.73s, total=331.46s, count=2, min=122219.1ms, max=209240.9ms
-  sensor_polling: mean=535.1ms, total=261.13s, count=488, min=444.7ms, max=1032.6ms
-  physics_step: mean=24.8ms, total=12.08s, count=488, min=15.1ms, max=98.5ms
-  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8561.6ms, max=8561.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
-  task_sampling: mean=776.2ms, total=1.55s, count=2, min=632.5ms, max=920.0ms
-  task_specific_sample: mean=772.3ms, total=1.54s, count=2, min=629.0ms, max=915.6ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=480.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:57:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:57:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:57:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:57:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022112m	[env.py: 870]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87970226  0.77682183  0.02211193] yaw=-161.8deg	[env.py: 1019]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64175594  0.73723587  0.02211193] yaw=-173.7deg	[env.py: 1019]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74451428  0.45632229  0.02211193] yaw=174.9deg	[env.py: 1019]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.8ms	[env.py: 1075]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.777, 0.022)	[env.py: 1079]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
-05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:57:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:57:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:57:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:57:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:57:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 89.653[deg]	[grasp_sample.py: 539]
-05/11 00:57:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:57:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:57:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:58:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:58:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:58:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:58:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:58:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:58:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 00:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:59:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:59:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:59:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:59:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:59:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.649[deg]	[grasp_sample.py: 539]
-05/11 00:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 00:59:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 00:59:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 00:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 00:59:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 00:59:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 00:59:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:59:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:59:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:59:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 00:59:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.038s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:59:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.212[deg]	[grasp_sample.py: 539]
-05/11 00:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 00:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 00:59:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.96s (batch: 4.42s, save: 11.54s)	[pipeline.py: 300]
-05/11 00:59:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 00:59:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.41s:
-  episode_total: mean=198.16s, total=396.31s, count=2, min=179208.7ms, max=217103.2ms
-  sensor_polling: mean=519.5ms, total=302.89s, count=583, min=434.7ms, max=967.3ms
-  physics_step: mean=25.5ms, total=14.89s, count=583, min=17.2ms, max=115.7ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11539.1ms, max=11539.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4422.9ms, max=4422.9ms
-  task_sampling: mean=704.8ms, total=1.41s, count=2, min=601.2ms, max=808.3ms
-  task_specific_sample: mean=700.2ms, total=1.40s, count=2, min=597.6ms, max=802.8ms
-  scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.4ms, max=3.8ms
-  mj_forward_sync: mean=562.6us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 00:59:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:59:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051369m	[env.py: 870]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 00:59:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 00:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94972559  0.86943033  0.05136863] yaw=-145.9deg	[env.py: 1019]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 00:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 00:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062078m	[env.py: 870]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 00:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83047996  0.01959731  0.05136863] yaw=144.5deg	[env.py: 1019]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05437008  0.91907745  0.05136863] yaw=-144.8deg	[env.py: 1019]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.3ms, total=316.3ms	[env.py: 1075]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.869, 0.051)	[env.py: 1079]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78626021  0.09818999  0.06207754] yaw=159.1deg	[env.py: 1019]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80954933  0.28675749  0.06207754] yaw=175.0deg	[env.py: 1019]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 00:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=514.6ms, total=514.6ms	[env.py: 1075]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.098, 0.062)	[env.py: 1079]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
-05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 00:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.183s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 00:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 00:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/11 00:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 00:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 00:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 00:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:59:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 78.170[deg]	[grasp_sample.py: 539]
-05/11 00:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 00:59:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.526[m] 84.420[deg]	[grasp_sample.py: 539]
-05/11 00:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 00:59:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:59:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 00:59:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 00:59:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:00:21 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:00:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:00:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:00:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:00:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:00:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:00:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:00:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:00:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:00:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:00:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:00:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:00:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:00:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:00:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:00:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.59s (batch: 4.69s, save: 9.90s)	[pipeline.py: 300]
-05/11 01:00:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=224.49s, total=224.49s, count=1, min=224486.8ms, max=224486.8ms
-  sensor_polling: mean=526.2ms, total=157.87s, count=300, min=447.5ms, max=951.9ms
-  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9901.5ms, max=9901.5ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.9ms, max=135.0ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4690.7ms, max=4690.7ms
-  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
-  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:01:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:01:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:01:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:01:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073033m	[env.py: 870]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84748518  0.6484439   0.07303299] yaw=-170.4deg	[env.py: 1019]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86312757  0.73962416  0.07303299] yaw=-168.7deg	[env.py: 1019]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:01:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms	[env.py: 1075]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.648, 0.073)	[env.py: 1079]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg	[env.py: 1082]
-05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:01:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:01:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:01:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:01:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:01:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:01:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 94.521[deg]	[grasp_sample.py: 539]
-05/11 01:01:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:01:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:01:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:01:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:01:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:01:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.65s (batch: 5.21s, save: 9.43s)	[pipeline.py: 300]
-05/11 01:01:07 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=209.63s, total=209.63s, count=1, min=209625.9ms, max=209625.9ms
-  sensor_polling: mean=531.0ms, total=159.30s, count=300, min=445.3ms, max=930.9ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9432.8ms, max=9432.8ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=15.8ms, max=83.4ms
-  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5214.6ms, max=5214.6ms
-  task_sampling: mean=493.8ms, total=493.8ms, count=1, min=493.8ms, max=493.8ms
-  task_specific_sample: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=432.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:01:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:01:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:01:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:01:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094954m	[env.py: 870]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74883115  0.31468155  0.09495364] yaw=169.0deg	[env.py: 1019]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=399.8ms, total=399.8ms	[env.py: 1075]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.315, 0.095)	[env.py: 1079]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg	[env.py: 1082]
-05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:01:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:01:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:01:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:01:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:01:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.979s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:01:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.482[m] 85.427[deg]	[grasp_sample.py: 539]
-05/11 01:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:01:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:01:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:01:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:02:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:02:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:02:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:02:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:02:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:36 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:02:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:02:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:02:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.430[deg]	[grasp_sample.py: 539]
-05/11 01:02:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:02:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:02:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:05 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:03:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:03:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:03:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.70s (batch: 4.82s, save: 10.88s)	[pipeline.py: 300]
-05/11 01:03:23 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.66s:
-  episode_total: mean=222.82s, total=222.82s, count=1, min=222819.1ms, max=222819.1ms
-  sensor_polling: mean=540.2ms, total=162.05s, count=300, min=449.3ms, max=1043.5ms
-  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.8ms, max=10880.8ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=14.0ms, max=98.0ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.8ms, max=4822.8ms
-  task_sampling: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
-  task_specific_sample: mean=653.5ms, total=653.5ms, count=1, min=653.5ms, max=653.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=635.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:03:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:03:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:03:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:03:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:03:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049113m	[env.py: 870]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98185232  0.69869961  0.04911298] yaw=-171.3deg	[env.py: 1019]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93247261  0.35054965  0.04911298] yaw=174.0deg	[env.py: 1019]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70554748  0.38824591  0.04911298] yaw=177.6deg	[env.py: 1019]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:03:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.6ms, total=117.6ms	[env.py: 1075]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.699, 0.049)	[env.py: 1079]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
-05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:03:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:03:25 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:03:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:03:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.307[m] 84.203[deg]	[grasp_sample.py: 539]
-05/11 01:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:03:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:03:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:03:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:03:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:03:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.19s (batch: 5.30s, save: 10.89s)	[pipeline.py: 300]
-05/11 01:03:49 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.70s:
-  episode_total: mean=194.57s, total=583.70s, count=3, min=165929.1ms, max=248597.5ms
-  sensor_polling: mean=529.9ms, total=442.49s, count=835, min=422.6ms, max=994.8ms
-  physics_step: mean=27.0ms, total=22.53s, count=835, min=18.1ms, max=102.6ms
-  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10888.3ms, max=10888.3ms
-  save_batch_prep: mean=5.30s, total=5.30s, count=1, min=5300.5ms, max=5300.5ms
-  task_sampling: mean=566.1ms, total=1.70s, count=3, min=398.9ms, max=837.8ms
-  task_specific_sample: mean=561.5ms, total=1.68s, count=3, min=393.2ms, max=833.6ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.5ms, max=2.4ms
-  mj_forward_sync: mean=538.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:03:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:03:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094525m	[env.py: 870]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99580039  0.92593319  0.09452461] yaw=-155.1deg	[env.py: 1019]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89034538  0.6533655   0.09452461] yaw=-163.2deg	[env.py: 1019]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70198041  0.62395356  0.09452461] yaw=-165.0deg	[env.py: 1019]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms	[env.py: 1075]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.926, 0.095)	[env.py: 1079]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
-05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:03:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:03:51 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:03:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:03:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:03:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 96.999[deg]	[grasp_sample.py: 539]
-05/11 01:03:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:03:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:03:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:03:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:03:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:03:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.662[deg]	[grasp_sample.py: 539]
-05/11 01:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:03:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:03:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:04:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:04:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:04:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:04:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:04:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:04:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:04:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.641[deg]	[grasp_sample.py: 539]
-05/11 01:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:04:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:04:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:04:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:04:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:04:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:04:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:04:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:04:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:04:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.632[deg]	[grasp_sample.py: 539]
-05/11 01:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:04:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:04:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:04:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:04:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:04:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:04:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:04:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.93s (batch: 5.08s, save: 9.85s)	[pipeline.py: 300]
-05/11 01:04:38 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
-  episode_total: mean=216.57s, total=216.57s, count=1, min=216569.2ms, max=216569.2ms
-  sensor_polling: mean=548.7ms, total=164.60s, count=300, min=460.1ms, max=1000.0ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9853.9ms, max=9853.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=72.7ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5075.7ms, max=5075.7ms
-  task_sampling: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
-  task_specific_sample: mean=516.8ms, total=516.8ms, count=1, min=516.8ms, max=516.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=475.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:04:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:04:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:04:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:04:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:04:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071637m	[env.py: 870]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99103347  1.05502453  0.07163739] yaw=-136.7deg	[env.py: 1019]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69134363  0.55969811  0.07163739] yaw=-180.5deg	[env.py: 1019]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.651399    0.15794562  0.07163739] yaw=162.2deg	[env.py: 1019]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.4ms	[env.py: 1075]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.055, 0.072)	[env.py: 1079]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
-05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:04:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:04:40 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:04:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:04:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:04:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:04:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:04:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:04:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 93.101[deg]	[grasp_sample.py: 539]
-05/11 01:04:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:04:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:04:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:04:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:04:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:04:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:04:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:04:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:05:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:05:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:05:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.87s (batch: 5.15s, save: 11.72s)	[pipeline.py: 300]
-05/11 01:05:04 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
-  episode_total: mean=235.28s, total=235.28s, count=1, min=235276.9ms, max=235276.9ms
-  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=467.2ms, max=953.5ms
-  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11722.2ms, max=11722.2ms
-  physics_step: mean=28.4ms, total=8.52s, count=300, min=16.1ms, max=96.1ms
-  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5148.9ms, max=5148.9ms
-  task_sampling: mean=754.0ms, total=754.0ms, count=1, min=754.0ms, max=754.0ms
-  task_specific_sample: mean=748.6ms, total=748.6ms, count=1, min=748.6ms, max=748.6ms
-  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  mj_forward_sync: mean=712.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:05:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:05:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:05:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:05:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:05:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065164m	[env.py: 870]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95275879  0.56732967  0.06516449] yaw=-167.9deg	[env.py: 1019]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08313551  1.23266603  0.06516449] yaw=-121.9deg	[env.py: 1019]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68954507  0.69903309  0.06516449] yaw=-165.3deg	[env.py: 1019]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms	[env.py: 1075]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.567, 0.065)	[env.py: 1079]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg	[env.py: 1082]
-05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:05:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:05:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:05:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:05:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:05:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:05:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:05:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:05:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 93.092[deg]	[grasp_sample.py: 539]
-05/11 01:05:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:05:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:05:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:05:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:05:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:05:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:05:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:05:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:06:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:06:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:06:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:06:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:06:37 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/11 01:06:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:06:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:06:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:06:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.78s (batch: 4.87s, save: 7.91s)	[pipeline.py: 300]
-05/11 01:06:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
-  episode_total: mean=205.37s, total=205.37s, count=1, min=205365.9ms, max=205365.9ms
-  sensor_polling: mean=546.4ms, total=153.54s, count=281, min=460.6ms, max=955.3ms
-  physics_step: mean=28.6ms, total=8.03s, count=281, min=17.1ms, max=95.6ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7911.5ms, max=7911.5ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4867.0ms, max=4867.0ms
-  task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms
-  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=399.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:06:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:06:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:06:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:06:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085186m	[env.py: 870]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14437849  1.06312684  0.08518589] yaw=-140.0deg	[env.py: 1019]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86505017  0.69693549  0.08518589] yaw=-164.7deg	[env.py: 1019]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09350318  1.07438658  0.08518589] yaw=-147.0deg	[env.py: 1019]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:06:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.9ms, total=180.9ms	[env.py: 1075]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.063, 0.085)	[env.py: 1079]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
-05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:06:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:06:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:06:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:06:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:06:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:06:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:06:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:06:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 86.064[deg]	[grasp_sample.py: 539]
-05/11 01:06:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:06:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:06:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:07:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:07:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:07:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:07:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:07:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:07:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.54s (batch: 4.16s, save: 8.38s)	[pipeline.py: 300]
-05/11 01:07:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=213.42s, total=213.42s, count=1, min=213417.0ms, max=213417.0ms
-  sensor_polling: mean=549.4ms, total=164.83s, count=300, min=438.9ms, max=920.5ms
-  physics_step: mean=28.0ms, total=8.40s, count=300, min=17.4ms, max=135.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8380.2ms, max=8380.2ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4164.4ms, max=4164.4ms
-  task_sampling: mean=516.5ms, total=516.5ms, count=1, min=516.5ms, max=516.5ms
-  task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:07:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:07:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:07:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:07:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:07:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:07:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:07:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051633m	[env.py: 870]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:07:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92462928  0.70687248  0.05163345] yaw=-170.7deg	[env.py: 1019]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90409973  0.89511045  0.05163345] yaw=-145.4deg	[env.py: 1019]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7336586   0.59018937  0.05163345] yaw=-176.0deg	[env.py: 1019]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:07:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms	[env.py: 1075]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.707, 0.052)	[env.py: 1079]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.7 deg	[env.py: 1082]
-05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:07:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:07:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:07:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:07:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:07:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:07:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:07:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:07:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 100.816[deg]	[grasp_sample.py: 539]
-05/11 01:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:07:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:07:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:07:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:07:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:07:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:07:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:07:56 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:07:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:07:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:07:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:08:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:08:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:08:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.16s (batch: 4.60s, save: 11.56s)	[pipeline.py: 300]
-05/11 01:08:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.58s:
-  episode_total: mean=216.77s, total=216.77s, count=1, min=216772.6ms, max=216772.6ms
-  sensor_polling: mean=535.8ms, total=160.73s, count=300, min=439.4ms, max=927.5ms
-  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11557.7ms, max=11557.7ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=16.3ms, max=124.5ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4604.8ms, max=4604.8ms
-  task_sampling: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms
-  task_specific_sample: mean=578.6ms, total=578.6ms, count=1, min=578.6ms, max=578.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:08:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:08:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:08:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:08:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:08:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:08:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:08:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067700m	[env.py: 870]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:08:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76762525  0.56303803  0.06769989] yaw=-183.2deg	[env.py: 1019]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92997129  0.49290014  0.06769989] yaw=-174.0deg	[env.py: 1019]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70964525  0.69947177  0.06769989] yaw=-175.5deg	[env.py: 1019]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:08:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms	[env.py: 1075]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.563, 0.068)	[env.py: 1079]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg	[env.py: 1082]
-05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:08:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:08:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:08:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:08:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:08:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:08:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 84.309[deg]	[grasp_sample.py: 539]
-05/11 01:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:08:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:08:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:08:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:08:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:08:23 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/11 01:08:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:08:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:08:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:08:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:08:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.55s (batch: 4.26s, save: 9.29s)	[pipeline.py: 300]
-05/11 01:08:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
-  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.1ms, max=211050.1ms
-  sensor_polling: mean=535.8ms, total=155.93s, count=291, min=443.8ms, max=890.7ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.0ms, max=9287.0ms
-  physics_step: mean=26.3ms, total=7.64s, count=291, min=18.4ms, max=130.2ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.8ms, max=4263.8ms
-  task_sampling: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
-  task_specific_sample: mean=562.0ms, total=562.0ms, count=1, min=562.0ms, max=562.0ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=546.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:08:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:08:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:08:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:08:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:08:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069999m	[env.py: 870]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96962827  1.13930153  0.06999854] yaw=-130.4deg	[env.py: 1019]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84403357  0.2248159   0.06999854] yaw=166.3deg	[env.py: 1019]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92898542  0.75883318  0.06999854] yaw=-171.5deg	[env.py: 1019]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:08:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=622.1ms, total=622.1ms	[env.py: 1075]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 1.139, 0.070)	[env.py: 1079]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
-05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:08:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:08:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:08:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:08:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:08:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 93.706[deg]	[grasp_sample.py: 539]
-05/11 01:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:09:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:09:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:09:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:09:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:09:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:09:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:09:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.193[deg]	[grasp_sample.py: 539]
-05/11 01:09:30 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:09:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:09:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:09:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:09:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:09:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:09:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:09:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024336m	[env.py: 870]
-05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:09:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.19326899  1.05713592  0.02433585] yaw=-132.4deg	[env.py: 1019]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00016054  0.15123706  0.02433585] yaw=144.1deg	[env.py: 1019]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92755703  0.27811194  0.02433585] yaw=166.9deg	[env.py: 1019]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:09:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=393.8ms, total=393.9ms	[env.py: 1075]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.057, 0.024)	[env.py: 1079]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg	[env.py: 1082]
-05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:09:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:09:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:09:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:09:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:09:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:09:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:09:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 95.899[deg]	[grasp_sample.py: 539]
-05/11 01:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:09:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:09:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:09:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:10:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:10:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:10:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:10:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:10:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:10:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:10:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.35s, save: 8.99s)	[pipeline.py: 300]
-05/11 01:10:52 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=205.92s, total=205.92s, count=1, min=205924.7ms, max=205924.7ms
-  sensor_polling: mean=527.3ms, total=158.20s, count=300, min=433.2ms, max=927.0ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8986.8ms, max=8986.8ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.6ms, max=69.0ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms
-  task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms
-  task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=476.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:10:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:10:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:10:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:10:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:10:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:10:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:10:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030932m	[env.py: 870]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:10:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14725609  1.04957896  0.03093211] yaw=-123.1deg	[env.py: 1019]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.933356    1.23562823  0.03093211] yaw=-127.7deg	[env.py: 1019]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66386339  0.25345216  0.03093211] yaw=170.9deg	[env.py: 1019]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:10:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.0ms	[env.py: 1075]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.147, 1.050, 0.031)	[env.py: 1079]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg	[env.py: 1082]
-05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:10:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:10:54 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:10:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:10:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.766s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:10:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 95.491[deg]	[grasp_sample.py: 539]
-05/11 01:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:11:08 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:11:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:11:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:11:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:11:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]	[grasp_sample.py: 539]
-05/11 01:11:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:11:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:11:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:11:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:11:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:11:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:11:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:11:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:11:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:11:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096305m	[env.py: 870]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:11:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07556008  1.02621619  0.0963047 ] yaw=-148.5deg	[env.py: 1019]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93203563  0.69690118  0.0963047 ] yaw=-165.6deg	[env.py: 1019]
-05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90133029  0.44901761  0.0963047 ] yaw=171.1deg	[env.py: 1019]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms	[env.py: 1075]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.026, 0.096)	[env.py: 1079]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
-05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
-05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:11:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:11:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:11:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:11:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:11:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:11:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:11:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:11:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:11:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 93.914[deg]	[grasp_sample.py: 539]
-05/11 01:11:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:11:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:11:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:11:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:11:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.68s (batch: 4.52s, save: 10.16s)	[pipeline.py: 300]
-05/11 01:11:49 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s:
-  episode_total: mean=211.09s, total=211.09s, count=1, min=211086.5ms, max=211086.5ms
-  sensor_polling: mean=515.4ms, total=154.62s, count=300, min=444.0ms, max=916.3ms
-  save_trajectories: mean=10.16s, total=10.16s, count=1, min=10163.5ms, max=10163.5ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.0ms, max=106.3ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.2ms, max=4516.2ms
-  task_sampling: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
-  task_specific_sample: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:11:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:11:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:11:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:11:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:11:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006075m	[env.py: 870]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66282692  0.20452573  0.00607487] yaw=169.5deg	[env.py: 1019]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87750622  1.07042391  0.00607487] yaw=-155.9deg	[env.py: 1019]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09958896  1.05063561  0.00607487] yaw=-130.3deg	[env.py: 1019]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.7ms, total=295.7ms	[env.py: 1075]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.205, 0.006)	[env.py: 1079]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
-05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:11:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:11:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.040s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:11:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 80.216[deg]	[grasp_sample.py: 539]
-05/11 01:11:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:11:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:11:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:12:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:12:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:12:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:12:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:12:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.724s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:12:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]	[grasp_sample.py: 539]
-05/11 01:12:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:12:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:12:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:12:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:12:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:12:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037888m	[env.py: 870]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66350002  0.67970398  0.03788772] yaw=-160.4deg	[env.py: 1019]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93581982  1.08023455  0.03788772] yaw=-131.4deg	[env.py: 1019]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61972077  0.62236317  0.03788772] yaw=-183.6deg	[env.py: 1019]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:12:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.680, 0.038)	[env.py: 1079]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:12:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:12:07 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:12:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:12:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:12:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:12:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 88.433[deg]	[grasp_sample.py: 539]
-05/11 01:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:12:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:12:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:12:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:12:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:12:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:13:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:13:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:13:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:13:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:13:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:13:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.268[deg]	[grasp_sample.py: 539]
-05/11 01:13:35 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:13:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:13:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:13:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:13:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:13:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083466m	[env.py: 870]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79585751  0.82905212  0.0834661 ] yaw=-159.9deg	[env.py: 1019]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9524958   0.89061067  0.0834661 ] yaw=-145.6deg	[env.py: 1019]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91179361  0.97099895  0.0834661 ] yaw=-149.7deg	[env.py: 1019]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:13:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms	[env.py: 1075]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.829, 0.083)	[env.py: 1079]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:13:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:13:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:13:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:13:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:13:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:13:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:13:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.714s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:13:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.516[m] 77.360[deg]	[grasp_sample.py: 539]
-05/11 01:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:13:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:13:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:14:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:14:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:14:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:14:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:14:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.818s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:14:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.264[deg]	[grasp_sample.py: 539]
-05/11 01:14:33 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:14:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:14:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:14:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:14:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:14:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:14:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:14:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:14:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034307m	[env.py: 870]
-05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:14:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84303402  0.62519028  0.03430668] yaw=-179.6deg	[env.py: 1019]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73489129  0.79333864  0.03430668] yaw=-172.4deg	[env.py: 1019]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91440587  0.54954698  0.03430668] yaw=-177.1deg	[env.py: 1019]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.7ms, total=475.7ms	[env.py: 1075]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.625, 0.034)	[env.py: 1079]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg	[env.py: 1082]
-05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:14:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:14:35 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:14:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:14:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 99.993[deg]	[grasp_sample.py: 539]
-05/11 01:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:14:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:14:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:14:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:14:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:14:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:14:51 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:15:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:15:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:15:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:15:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 01:15:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:15:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:15:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:15:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:15:13 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:15:13 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.852[deg]	[grasp_sample.py: 539]
-05/11 01:15:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:15:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:15:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:15:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:15:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:15:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:15:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:15:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.78s (batch: 4.49s, save: 10.28s)	[pipeline.py: 300]
-05/11 01:15:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.64s:
-  episode_total: mean=209.63s, total=209.63s, count=1, min=209633.8ms, max=209633.8ms
-  sensor_polling: mean=514.0ms, total=154.20s, count=300, min=455.5ms, max=799.7ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.7ms, max=10283.7ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.4ms, max=51.2ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.8ms, max=4492.8ms
-  task_sampling: mean=637.6ms, total=637.6ms, count=1, min=637.6ms, max=637.6ms
-  task_specific_sample: mean=631.5ms, total=631.5ms, count=1, min=631.5ms, max=631.5ms
-  scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  mj_forward_sync: mean=699.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:15:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:15:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:15:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:15:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048850m	[env.py: 870]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75193262  0.83687021  0.04885016] yaw=-162.8deg	[env.py: 1019]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95815449  0.19397416  0.04885016] yaw=158.6deg	[env.py: 1019]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91720607  0.88817433  0.04885016] yaw=-153.7deg	[env.py: 1019]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.837, 0.049)	[env.py: 1079]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg	[env.py: 1082]
-05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:15:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:15:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:15:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:15:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:15:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:15:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:15:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.549[m] 91.122[deg]	[grasp_sample.py: 539]
-05/11 01:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:15:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:15:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:15:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:15:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:15:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:15:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025732m	[env.py: 870]
-05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:15:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73618945  0.93291535  0.02573235] yaw=-165.9deg	[env.py: 1019]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7691473   0.16135564  0.02573235] yaw=159.2deg	[env.py: 1019]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71097551  0.51976124  0.02573235] yaw=-189.0deg	[env.py: 1019]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.7ms, total=461.7ms	[env.py: 1075]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.933, 0.026)	[env.py: 1079]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
-05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
-05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:15:33 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:15:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:15:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:15:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:15:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:15:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:15:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.74s (batch: 4.60s, save: 10.14s)	[pipeline.py: 300]
-05/11 01:15:34 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.69s:
-  episode_total: mean=172.89s, total=518.68s, count=3, min=152793.3ms, max=208263.3ms
-  sensor_polling: mean=505.3ms, total=408.77s, count=809, min=436.0ms, max=941.6ms
-  physics_step: mean=24.4ms, total=19.72s, count=809, min=14.9ms, max=93.3ms
-  save_trajectories: mean=10.14s, total=10.14s, count=1, min=10142.8ms, max=10142.8ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4600.1ms, max=4600.1ms
-  task_sampling: mean=562.4ms, total=1.69s, count=3, min=473.8ms, max=683.0ms
-  task_specific_sample: mean=558.7ms, total=1.68s, count=3, min=470.1ms, max=679.8ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=430.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:15:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:15:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:15:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:15:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:15:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:15:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047011m	[env.py: 870]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:15:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8170683   1.09731259  0.04701104] yaw=-141.8deg	[env.py: 1019]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93503871  1.06264163  0.04701104] yaw=-148.0deg	[env.py: 1019]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81882568  0.31903686  0.04701104] yaw=166.2deg	[env.py: 1019]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.1ms	[env.py: 1075]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 1.097, 0.047)	[env.py: 1079]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg	[env.py: 1082]
-05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:15:37 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:15:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:15:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:15:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:15:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:15:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:15:37 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.639[m] 92.473[deg]	[grasp_sample.py: 539]
-05/11 01:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:15:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:15:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:15:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:15:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076235m	[env.py: 870]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73021273  0.569782    0.07623487] yaw=-180.0deg	[env.py: 1019]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96130469  1.23550447  0.07623487] yaw=-131.4deg	[env.py: 1019]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.7ms	[env.py: 1075]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.570, 0.076)	[env.py: 1079]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg	[env.py: 1082]
-05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:15:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.332s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:15:40 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.712[m] 99.992[deg]	[grasp_sample.py: 539]
-05/11 01:15:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:15:40 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:15:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:15:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:15:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:15:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:15:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 94.023[deg]	[grasp_sample.py: 539]
-05/11 01:15:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:15:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:15:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:15:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:15:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:16:27 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:16:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:16:50 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:16:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:16:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:16:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:16:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:16:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:17:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:17:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:17:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.70s (batch: 5.00s, save: 9.70s)	[pipeline.py: 300]
-05/11 01:17:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s:
-  episode_total: mean=184.92s, total=369.85s, count=2, min=161238.3ms, max=208611.4ms
-  sensor_polling: mean=513.3ms, total=293.12s, count=571, min=437.2ms, max=966.3ms
-  physics_step: mean=26.0ms, total=14.84s, count=571, min=15.7ms, max=134.9ms
-  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9702.1ms, max=9702.1ms
-  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=4995.1ms, max=4995.1ms
-  task_sampling: mean=448.6ms, total=897.1ms, count=2, min=399.4ms, max=497.7ms
-  task_specific_sample: mean=444.5ms, total=889.0ms, count=2, min=396.2ms, max=492.8ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
-  mj_forward_sync: mean=534.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:17:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:17:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:17:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:17:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:17:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:17:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:17:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:17:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027580m	[env.py: 870]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:17:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8641577   0.93806892  0.02757969] yaw=-140.6deg	[env.py: 1019]
-05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74302662  0.67726413  0.02757969] yaw=-160.3deg	[env.py: 1019]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81374165  0.40992061  0.02757969] yaw=171.3deg	[env.py: 1019]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:17:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=337.7ms, total=337.7ms	[env.py: 1075]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.938, 0.028)	[env.py: 1079]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg	[env.py: 1082]
-05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:17:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:17:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:17:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:17:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.075[deg]	[grasp_sample.py: 539]
-05/11 01:17:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:17:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:17:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:17:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:17:26 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:17:56 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:17:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:17:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:18:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:18:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:18:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.95s (batch: 4.74s, save: 10.22s)	[pipeline.py: 300]
-05/11 01:18:11 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.25s:
-  episode_total: mean=189.62s, total=568.87s, count=3, min=175689.7ms, max=216762.6ms
-  sensor_polling: mean=515.9ms, total=451.44s, count=875, min=434.7ms, max=963.9ms
-  physics_step: mean=24.3ms, total=21.25s, count=875, min=17.3ms, max=72.3ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.0ms, max=10216.0ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4737.7ms, max=4737.7ms
-  task_sampling: mean=751.6ms, total=2.25s, count=3, min=528.7ms, max=982.7ms
-  task_specific_sample: mean=746.4ms, total=2.24s, count=3, min=525.7ms, max=974.4ms
-  scene_randomize: mean=3.2ms, total=9.6ms, count=3, min=1.3ms, max=6.8ms
-  mj_forward_sync: mean=504.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:18:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:18:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049791m	[env.py: 870]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97874704  0.15561878  0.04979086] yaw=158.5deg	[env.py: 1019]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93230919  0.08012078  0.04979086] yaw=145.9deg	[env.py: 1019]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90899298  0.37382178  0.04979086] yaw=170.8deg	[env.py: 1019]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.156, 0.050)	[env.py: 1079]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
-05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:18:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:18:13 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:18:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:18:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:18:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:18:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.390[m] 91.844[deg]	[grasp_sample.py: 539]
-05/11 01:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:18:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:18:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:18:25 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:18:46 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:18:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:18:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:18:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:18:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:19:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:19:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.26s (batch: 4.86s, save: 9.40s)	[pipeline.py: 300]
-05/11 01:19:06 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s:
-  episode_total: mean=210.22s, total=210.22s, count=1, min=210221.3ms, max=210221.3ms
-  sensor_polling: mean=513.6ms, total=154.09s, count=300, min=440.3ms, max=996.7ms
-  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.9ms, max=9400.9ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=14.7ms, max=91.6ms
-  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.8ms, max=4857.8ms
-  task_sampling: mean=555.6ms, total=555.6ms, count=1, min=555.6ms, max=555.6ms
-  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:19:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:19:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019149m	[env.py: 870]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05237895  1.01868004  0.01914921] yaw=-137.5deg	[env.py: 1019]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70781492  0.11485943  0.01914921] yaw=168.6deg	[env.py: 1019]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65081496  0.20178327  0.01914921] yaw=170.6deg	[env.py: 1019]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.9ms, total=94.9ms	[env.py: 1075]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.019, 0.019)	[env.py: 1079]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:19:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:19:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:19:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:19:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 87.757[deg]	[grasp_sample.py: 539]
-05/11 01:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:19:10 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:19:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:19:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:19:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:19:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.95s (batch: 4.16s, save: 8.79s)	[pipeline.py: 300]
-05/11 01:19:24 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.85s:
-  episode_total: mean=79.14s, total=237.41s, count=3, min=5552.6ms, max=223771.2ms
-  sensor_polling: mean=514.7ms, total=154.41s, count=300, min=446.0ms, max=913.8ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.3ms, max=8788.3ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=18.3ms, max=51.7ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms
-  task_sampling: mean=615.3ms, total=1.85s, count=3, min=489.6ms, max=814.7ms
-  task_specific_sample: mean=611.8ms, total=1.84s, count=3, min=486.9ms, max=811.1ms
-  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=469.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:19:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041514m	[env.py: 870]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20584982  1.09808866  0.0415141 ] yaw=-132.5deg	[env.py: 1019]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73512581  0.22788235  0.0415141 ] yaw=170.8deg	[env.py: 1019]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79448476  1.01585712  0.0415141 ] yaw=-139.2deg	[env.py: 1019]
-05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:19:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.3ms	[env.py: 1075]
-05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.206, 1.098, 0.042)	[env.py: 1079]
-05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg	[env.py: 1082]
-05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:19:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:19:26 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:19:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:19:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:19:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:19:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.137[deg]	[grasp_sample.py: 539]
-05/11 01:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:19:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:19:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:20:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:20:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:20:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:20:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:20:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.093[deg]	[grasp_sample.py: 539]
-05/11 01:20:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:20:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:20:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:20:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:20:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018823m	[env.py: 870]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03448841  1.23831279  0.01882287] yaw=-141.1deg	[env.py: 1019]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64787606  0.27231223  0.01882287] yaw=171.3deg	[env.py: 1019]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83751008  0.73580633  0.01882287] yaw=-164.5deg	[env.py: 1019]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.238, 0.019)	[env.py: 1079]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
-05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:20:18 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:20:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:20:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:20:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:20:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:20:19 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:20:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:20:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:20:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:20:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.694s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:20:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 87.297[deg]	[grasp_sample.py: 539]
-05/11 01:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:20:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m	[env.py: 870]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.882288    1.01623007  0.01028124] yaw=-153.7deg	[env.py: 1019]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85910866  0.27574051  0.01028124] yaw=173.2deg	[env.py: 1019]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65477632  0.23826548  0.01028124] yaw=157.9deg	[env.py: 1019]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms	[env.py: 1075]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.016, 0.010)	[env.py: 1079]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg	[env.py: 1082]
-05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:20:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:20:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:20:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:20:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:20:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.762s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:20:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.531[m] 86.039[deg]	[grasp_sample.py: 539]
-05/11 01:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:20:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:20:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:20:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.89s, save: 10.33s)	[pipeline.py: 300]
-05/11 01:20:35 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.66s:
-  episode_total: mean=208.07s, total=208.07s, count=1, min=208073.0ms, max=208073.0ms
-  sensor_polling: mean=511.1ms, total=153.33s, count=300, min=436.8ms, max=984.9ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.6ms, max=10330.6ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.9ms, max=106.7ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4886.6ms, max=4886.6ms
-  task_sampling: mean=662.3ms, total=662.3ms, count=1, min=662.3ms, max=662.3ms
-  task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=519.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:20:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:20:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:20:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:20:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:20:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:20:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008795m	[env.py: 870]
-05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:20:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82776748  0.31146456  0.00879518] yaw=162.1deg	[env.py: 1019]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86060839  0.47730959  0.00879518] yaw=183.6deg	[env.py: 1019]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70898278  0.12555192  0.00879518] yaw=169.5deg	[env.py: 1019]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.9ms, total=377.0ms	[env.py: 1075]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.311, 0.009)	[env.py: 1079]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
-05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:20:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:20:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:20:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:20:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:20:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 78.876[deg]	[grasp_sample.py: 539]
-05/11 01:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:20:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:20:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:21:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:21:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:21:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:21:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:21:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:21:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.869s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:21:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.226[deg]	[grasp_sample.py: 539]
-05/11 01:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:21:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:21:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:21:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:21:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:21:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069261m	[env.py: 870]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79484152  0.80013879  0.06926129] yaw=-150.8deg	[env.py: 1019]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77463404  0.21041098  0.06926129] yaw=164.2deg	[env.py: 1019]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97717551  0.70647165  0.06926129] yaw=-165.9deg	[env.py: 1019]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms	[env.py: 1075]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.800, 0.069)	[env.py: 1079]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
-05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:21:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:21:58 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:21:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:21:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:21:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:21:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:21:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:21:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 93.537[deg]	[grasp_sample.py: 539]
-05/11 01:21:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:22:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:22:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:22:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:22:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:22:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.995s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:22:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg]	[grasp_sample.py: 539]
-05/11 01:22:05 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:22:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:22:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076680m	[env.py: 870]
-05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92314954  1.10485947  0.0766802 ] yaw=-134.8deg	[env.py: 1019]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63024405  0.66377445  0.0766802 ] yaw=-171.4deg	[env.py: 1019]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67610444  0.34624319  0.0766802 ] yaw=172.6deg	[env.py: 1019]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.5ms, total=315.6ms	[env.py: 1075]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 1.105, 0.077)	[env.py: 1079]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
-05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:22:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:22:07 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:22:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:22:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:22:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.946s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:22:09 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.613[m] 91.726[deg]	[grasp_sample.py: 539]
-05/11 01:22:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:22:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:22:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:22:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:23:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:23:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:23:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:23:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:23:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:23:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:23:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:23:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.702s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:23:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.643[deg]	[grasp_sample.py: 539]
-05/11 01:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:23:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:23:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:23:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:23:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:23:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:23:59 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:23:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:23:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:24:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:24:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 3.93s, save: 10.44s)	[pipeline.py: 300]
-05/11 01:24:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.44s:
-  episode_total: mean=117.84s, total=353.53s, count=3, min=3500.8ms, max=226852.3ms
-  sensor_polling: mean=518.1ms, total=253.33s, count=489, min=442.1ms, max=868.0ms
-  physics_step: mean=23.7ms, total=11.61s, count=489, min=14.5ms, max=59.2ms
-  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.0ms, max=10435.0ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3928.6ms, max=3928.6ms
-  task_sampling: mean=480.5ms, total=1.44s, count=3, min=430.6ms, max=528.7ms
-  task_specific_sample: mean=476.4ms, total=1.43s, count=3, min=426.2ms, max=525.4ms
-  scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=481.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:24:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:24:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:24:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:24:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:24:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061125m	[env.py: 870]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7052415   0.65116065  0.06112526] yaw=-160.6deg	[env.py: 1019]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02381396  1.25283957  0.06112526] yaw=-126.3deg	[env.py: 1019]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms	[env.py: 1075]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.651, 0.061)	[env.py: 1079]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg	[env.py: 1082]
-05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:24:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:24:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:24:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:24:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 85.137[deg]	[grasp_sample.py: 539]
-05/11 01:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:24:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:24:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:24:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:24:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:24:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.75s (batch: 4.97s, save: 10.78s)	[pipeline.py: 300]
-05/11 01:24:15 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
-  episode_total: mean=218.05s, total=218.05s, count=1, min=218046.2ms, max=218046.2ms
-  sensor_polling: mean=518.7ms, total=155.61s, count=300, min=443.5ms, max=821.3ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.7ms, max=10779.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.7ms, max=55.6ms
-  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4974.8ms, max=4974.8ms
-  task_sampling: mean=694.1ms, total=694.1ms, count=1, min=694.1ms, max=694.1ms
-  task_specific_sample: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=505.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:24:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:24:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:24:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:24:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020788m	[env.py: 870]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95672894  0.92231154  0.02078793] yaw=-153.9deg	[env.py: 1019]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68725466  0.25258337  0.02078793] yaw=176.4deg	[env.py: 1019]
-05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77346627  0.90575767  0.02078793] yaw=-163.0deg	[env.py: 1019]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:24:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.8ms, total=323.8ms	[env.py: 1075]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.922, 0.021)	[env.py: 1079]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
-05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
-05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:24:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:24:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:24:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:24:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:24:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:24:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:24:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:24:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 86.325[deg]	[grasp_sample.py: 539]
-05/11 01:24:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:24:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:24:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:24:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:24:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:25:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:25:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:25:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:25:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:25:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:25:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:25:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:25:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:25:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:25:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:25:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.98s (batch: 4.98s, save: 9.00s)	[pipeline.py: 300]
-05/11 01:25:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s:
-  episode_total: mean=178.80s, total=357.59s, count=2, min=150629.3ms, max=206964.3ms
-  sensor_polling: mean=516.8ms, total=279.08s, count=540, min=431.6ms, max=851.4ms
-  physics_step: mean=24.9ms, total=13.46s, count=540, min=16.2ms, max=61.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=8995.4ms, max=8995.4ms
-  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4983.2ms, max=4983.2ms
-  task_sampling: mean=512.6ms, total=1.03s, count=2, min=485.6ms, max=539.7ms
-  task_specific_sample: mean=508.6ms, total=1.02s, count=2, min=481.5ms, max=535.8ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=517.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:25:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:25:26 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:25:26 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:25:26 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/11 01:25:26 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5785.88s
-  House averages:
-  episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms
-  sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms
-  save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms
-  physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms
-  save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms
-  task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms
-  task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=22.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 01:25:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 01:25:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5785.88s
-  Worker averages:
-  episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms
-  sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms
-  save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms
-  physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms
-  save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms
-  task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms
-  task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=22.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 01:25:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 01:25:29 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/11 01:25:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 01:25:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:25:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.63s (batch: 4.40s, save: 8.23s)	[pipeline.py: 300]
-05/11 01:25:34 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.98s:
-  episode_total: mean=192.17s, total=384.34s, count=2, min=176410.1ms, max=207930.6ms
-  sensor_polling: mean=514.2ms, total=302.85s, count=589, min=440.6ms, max=857.7ms
-  physics_step: mean=24.4ms, total=14.35s, count=589, min=14.7ms, max=75.6ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.5ms, max=8227.5ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.0ms, max=4401.0ms
-  task_sampling: mean=491.8ms, total=983.7ms, count=2, min=403.5ms, max=580.2ms
-  task_specific_sample: mean=488.1ms, total=976.1ms, count=2, min=399.6ms, max=576.5ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
-  mj_forward_sync: mean=483.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:25:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:25:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:25:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:25:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:25:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:25:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:25:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078737m	[env.py: 870]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:25:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90937513  1.22019679  0.07873666] yaw=-142.7deg	[env.py: 1019]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.6ms	[env.py: 1075]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.220, 0.079)	[env.py: 1079]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
-05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:25:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:25:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:25:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:25:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:25:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 01:25:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 01:25:40 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:25:40 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:25:40 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
-05/11 01:25:40 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5896.49s
-  House averages:
-  episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms
-  sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms
-  physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms
-  save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms
-  save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms
-  task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms
-  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 01:25:40 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 01:25:40 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5896.49s
-  Worker averages:
-  episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms
-  sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms
-  physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms
-  save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms
-  save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms
-  task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms
-  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 01:25:43 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 01:25:43 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
-05/11 01:25:43 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 01:26:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:26:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:27:20 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:27:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:27:26 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:27:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:27:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:27:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:27:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:27:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.03s (batch: 4.09s, save: 7.94s)	[pipeline.py: 300]
-05/11 01:27:33 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
-  episode_total: mean=200.88s, total=200.88s, count=1, min=200875.7ms, max=200875.7ms
-  sensor_polling: mean=504.6ms, total=151.39s, count=300, min=443.2ms, max=1158.1ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7941.1ms, max=7941.1ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=17.5ms, max=35.3ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.0ms, max=4087.0ms
-  task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms
-  task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=667.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:27:35 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:27:35 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:27:35 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
-05/11 01:27:35 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=6095.32s
-  House averages:
-  episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms
-  sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms
-  save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms
-  physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms
-  save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms
-  task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms
-  task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 01:27:35 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 01:27:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=6095.32s
-  Worker averages:
-  episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms
-  sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms
-  save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms
-  physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms
-  save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms
-  task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms
-  task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 01:27:38 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 01:27:38 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
-05/11 01:27:38 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 01:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:27:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:27:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.00s (batch: 4.13s, save: 9.86s)	[pipeline.py: 300]
-05/11 01:27:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s:
-  episode_total: mean=204.13s, total=204.13s, count=1, min=204125.8ms, max=204125.8ms
-  sensor_polling: mean=498.0ms, total=149.39s, count=300, min=431.6ms, max=769.0ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.7ms, max=9863.7ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=14.9ms, max=60.9ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.7ms, max=4131.7ms
-  task_sampling: mean=642.6ms, total=642.6ms, count=1, min=642.6ms, max=642.6ms
-  task_specific_sample: mean=638.5ms, total=638.5ms, count=1, min=638.5ms, max=638.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=528.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:27:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:27:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007669m	[env.py: 870]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74168338  0.36468161  0.00766889] yaw=163.4deg	[env.py: 1019]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70008901  0.5505019   0.00766889] yaw=-171.7deg	[env.py: 1019]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01510742  1.09344213  0.00766889] yaw=-135.9deg	[env.py: 1019]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms	[env.py: 1075]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.365, 0.008)	[env.py: 1079]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
-05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:27:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:27:44 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:27:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:27:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:27:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:27:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.499[m] 88.368[deg]	[grasp_sample.py: 539]
-05/11 01:27:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:27:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:27:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:28:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:28:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:28:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:30:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:30:45 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
-05/11 01:30:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:30:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:30:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:30:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
-05/11 01:30:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.83s (batch: 4.22s, save: 8.61s)	[pipeline.py: 300]
-05/11 01:30:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
-  episode_total: mean=195.20s, total=195.20s, count=1, min=195200.5ms, max=195200.5ms
-  sensor_polling: mean=471.1ms, total=141.34s, count=300, min=419.6ms, max=726.3ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8608.4ms, max=8608.4ms
-  physics_step: mean=23.5ms, total=7.04s, count=300, min=14.3ms, max=58.4ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.8ms, max=4219.8ms
-  task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms
-  task_specific_sample: mean=586.9ms, total=586.9ms, count=1, min=586.9ms, max=586.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=501.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_012	[pipeline.py: 234]
-05/11 01:31:00 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
-05/11 01:31:00 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6467.05s
-  House averages:
-  episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms
-  sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms
-  save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms
-  physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms
-  save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms
-  task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms
-  task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 01:31:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 01:31:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6467.05s
-  Worker averages:
-  episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms
-  sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms
-  save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms
-  physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms
-  save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms
-  task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms
-  task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 01:31:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 01:31:03 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
-05/11 01:31:03 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_012/shard_1_of_4.log b/fridge_7/chunk_012/shard_1_of_4.log
deleted file mode 100644
index e4fddf349f3811161c2b9dd234548b49686acafb..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_012/shard_1_of_4.log
+++ /dev/null
@@ -1,1717 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
-  shard=1/4  seed=21201  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73413ffe8c90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21201,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 126724081112656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126724081112656 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 126724081112656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126724081112656 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 126724079191056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126724079191056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126724079199568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126724079199568 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126724079199568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126724079199568 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126724079191056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126724079191056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126724086983952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126724086983952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126724086986256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126724086986256 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 126724086986256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126724086986256 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126724086983952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126724086983952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 00:31:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d8c20aac6f0 at 0x7341403e8550>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d8c20ada290 at 0x734140406810>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d8c20ada290 at 0x73414037a5d0>
-[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069104m
-[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74877214  0.51798261  0.06910422] yaw=-177.7deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73395878  0.77280032  0.06910422] yaw=-156.1deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77301674  0.72398382  0.06910422] yaw=-160.5deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=44.2ms, retries=502.9ms, total=547.1ms
-[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.518, 0.069)
-[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:31:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 32.232s
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/11 00:32:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True
-[05/11 00:32:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.987[deg]
-[05/11 00:32:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:33:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:33:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:33:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:35:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 00:35:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:35:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:35:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:35:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 00:35:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:35:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.03s (batch: 5.12s, save: 8.91s)
-[05/11 00:35:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.31s:
-  episode_total: mean=245.03s, total=245.03s, count=1, min=245031.3ms, max=245031.3ms
-  sensor_polling: mean=512.4ms, total=153.72s, count=300, min=447.4ms, max=744.7ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.4ms, max=8912.4ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.3ms, max=86.2ms
-  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5119.9ms, max=5119.9ms
-  task_sampling: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  task_specific_sample: mean=843.5ms, total=843.5ms, count=1, min=843.5ms, max=843.5ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=632.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:36:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:36:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/11 00:36:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:36:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:36:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097417m
-[05/11 00:36:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:36:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:36:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75602017  0.89358059  0.09741725] yaw=-166.8deg
-[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97022408  1.12981366  0.09741725] yaw=-141.7deg
-[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7988714   1.09157473  0.09741725] yaw=-146.0deg
-[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:36:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:36:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.2ms, total=258.2ms
-[05/11 00:36:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.894, 0.097)
-[05/11 00:36:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg
-[05/11 00:36:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:36:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 00:36:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 00:36:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:36:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:36:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/11 00:36:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.144s, found feasible grasp: True
-[05/11 00:36:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.618[m] 89.411[deg]
-[05/11 00:36:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:38:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:39:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:39:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:39:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:39:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:39:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:39:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 17.50s (batch: 4.61s, save: 12.89s)
-[05/11 00:39:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.54s:
-  episode_total: mean=217.75s, total=217.75s, count=1, min=217754.4ms, max=217754.4ms
-  sensor_polling: mean=523.4ms, total=157.03s, count=300, min=452.6ms, max=924.0ms
-  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12890.2ms, max=12890.2ms
-  physics_step: mean=24.8ms, total=7.44s, count=300, min=18.4ms, max=71.5ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.3ms, max=4607.3ms
-  task_sampling: mean=539.4ms, total=539.4ms, count=1, min=539.4ms, max=539.4ms
-  task_specific_sample: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:39:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:39:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/11 00:39:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:39:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:39:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076180m
-[05/11 00:39:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:39:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:39:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98513379  1.30186954  0.07618025] yaw=-131.7deg
-[05/11 00:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:39:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms
-[05/11 00:39:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.302, 0.076)
-[05/11 00:39:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg
-[05/11 00:39:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:39:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 00:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 00:39:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:39:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:39:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/11 00:39:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.697s, found feasible grasp: False
-[05/11 00:39:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 00:39:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:39:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 00:39:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:39:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:39:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095163m
-[05/11 00:39:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:39:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:39:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9915143   0.73798901  0.09516297] yaw=-166.4deg
-[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67673016  0.57475667  0.09516297] yaw=-169.1deg
-[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81296799  0.37082029  0.09516297] yaw=166.5deg
-[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:39:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:39:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=514.9ms, total=514.9ms
-[05/11 00:39:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.738, 0.095)
-[05/11 00:39:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg
-[05/11 00:39:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:39:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 00:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/11 00:39:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:39:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:39:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/11 00:39:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True
-[05/11 00:39:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 90.977[deg]
-[05/11 00:39:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:42:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:42:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:42:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:42:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
-[05/11 00:43:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:43:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:43:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.31s, save: 9.02s)
-[05/11 00:43:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
-  episode_total: mean=104.65s, total=209.29s, count=2, min=2377.2ms, max=206916.4ms
-  sensor_polling: mean=527.7ms, total=152.50s, count=289, min=457.8ms, max=901.4ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.8ms, max=9024.8ms
-  physics_step: mean=25.3ms, total=7.31s, count=289, min=17.9ms, max=85.1ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.9ms, max=4314.9ms
-  task_sampling: mean=669.7ms, total=1.34s, count=2, min=530.0ms, max=809.3ms
-  task_specific_sample: mean=666.4ms, total=1.33s, count=2, min=526.3ms, max=806.4ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=412.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:43:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:43:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:43:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/11 00:43:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:43:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:43:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033044m
-[05/11 00:43:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:43:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:43:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89485653  0.58131449  0.03304378] yaw=-175.7deg
-[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04921043  1.27014876  0.03304378] yaw=-139.0deg
-[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94781425  0.74960878  0.03304378] yaw=-164.4deg
-[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:43:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:43:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms
-[05/11 00:43:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.581, 0.033)
-[05/11 00:43:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg
-[05/11 00:43:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:43:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:43:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 00:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/11 00:43:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:43:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:43:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 00:43:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/11 00:43:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.406[m] 101.025[deg]
-[05/11 00:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:44:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:44:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:45:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:46:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:46:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:46:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:46:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:46:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:46:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.60s (batch: 4.67s, save: 11.93s)
-[05/11 00:46:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
-  episode_total: mean=209.55s, total=209.55s, count=1, min=209552.9ms, max=209552.9ms
-  sensor_polling: mean=510.1ms, total=153.03s, count=300, min=435.6ms, max=1035.2ms
-  save_trajectories: mean=11.93s, total=11.93s, count=1, min=11927.5ms, max=11927.5ms
-  physics_step: mean=24.0ms, total=7.21s, count=300, min=18.2ms, max=78.8ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.6ms, max=4673.6ms
-  task_sampling: mean=492.2ms, total=492.2ms, count=1, min=492.2ms, max=492.2ms
-  task_specific_sample: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:46:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:46:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:46:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 00:46:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:46:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:46:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009764m
-[05/11 00:46:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:46:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:46:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89126526  0.04043431  0.00976432] yaw=160.1deg
-[05/11 00:46:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64487533  0.47083144  0.00976432] yaw=180.1deg
-[05/11 00:46:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:46:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:46:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms
-[05/11 00:46:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.040, 0.010)
-[05/11 00:46:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg
-[05/11 00:46:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:46:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:46:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:46:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 00:46:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/11 00:46:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:46:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:46:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 00:46:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True
-[05/11 00:46:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.510[m] 94.681[deg]
-[05/11 00:46:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:49:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:49:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:49:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:50:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:50:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:50:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:50:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:50:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/11 00:50:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.441s, found feasible grasp: True
-[05/11 00:50:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.318[deg]
-[05/11 00:50:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:50:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:50:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:50:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:50:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:50:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:50:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:50:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.45s (batch: 4.52s, save: 8.93s)
-[05/11 00:50:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
-  episode_total: mean=245.56s, total=245.56s, count=1, min=245561.7ms, max=245561.7ms
-  sensor_polling: mean=516.8ms, total=155.05s, count=300, min=456.8ms, max=1162.8ms
-  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8932.3ms, max=8932.3ms
-  physics_step: mean=25.9ms, total=7.76s, count=300, min=15.2ms, max=93.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.4ms, max=4522.4ms
-  task_sampling: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
-  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=473.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:50:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:50:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:50:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/11 00:50:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:50:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:50:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026368m
-[05/11 00:50:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:50:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:50:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96495249  0.34149481  0.02636788] yaw=162.8deg
-[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96215397  1.10179202  0.02636788] yaw=-144.4deg
-[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:50:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:50:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19852704  1.08827145  0.02636788] yaw=-135.4deg
-[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:50:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:50:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms
-[05/11 00:50:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.341, 0.026)
-[05/11 00:50:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
-[05/11 00:50:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:50:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:50:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 00:50:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 00:50:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:50:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:50:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 00:50:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True
-[05/11 00:50:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.290[deg]
-[05/11 00:50:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:52:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:52:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:52:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:52:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:52:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:52:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:52:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:52:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
-[05/11 00:52:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.708s, found feasible grasp: True
-[05/11 00:52:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.210[deg]
-[05/11 00:52:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:52:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:52:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:52:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:52:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:53:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:53:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:53:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:53:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:53:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:53:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 00:53:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:53:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:53:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 74 non-colliding grasps
-[05/11 00:53:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.806s, found feasible grasp: True
-[05/11 00:53:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.450[deg]
-[05/11 00:53:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:53:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:53:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:53:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 00:53:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:53:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:53:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094401m
-[05/11 00:53:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:53:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:53:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79820358  1.1010736   0.09440148] yaw=-137.6deg
-[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08342142  1.00509624  0.09440148] yaw=-134.6deg
-[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14293041  1.03714711  0.09440148] yaw=-146.4deg
-[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:53:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:53:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.5ms, total=114.5ms
-[05/11 00:53:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 1.101, 0.094)
-[05/11 00:53:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg
-[05/11 00:53:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:53:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:53:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:53:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 00:53:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/11 00:53:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:53:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:53:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:53:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.093s, found feasible grasp: True
-[05/11 00:53:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.707[m] 95.636[deg]
-[05/11 00:53:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:56:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:57:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:57:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 00:57:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:57:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:57:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:57:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.00s (batch: 4.34s, save: 8.67s)
-[05/11 00:57:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.81s:
-  episode_total: mean=189.95s, total=379.90s, count=2, min=167380.4ms, max=212520.4ms
-  sensor_polling: mean=528.9ms, total=275.01s, count=520, min=438.4ms, max=1208.8ms
-  physics_step: mean=25.7ms, total=13.34s, count=520, min=13.7ms, max=120.1ms
-  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8666.5ms, max=8666.5ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.0ms, max=4335.0ms
-  task_sampling: mean=403.2ms, total=806.3ms, count=2, min=400.9ms, max=405.4ms
-  task_specific_sample: mean=399.7ms, total=799.4ms, count=2, min=397.6ms, max=401.8ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
-  mj_forward_sync: mean=420.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:57:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:57:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:57:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/11 00:57:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:57:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:57:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005592m
-[05/11 00:57:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:57:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:57:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92539158  0.32934765  0.00559181] yaw=174.0deg
-[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79561786  1.0933088   0.00559181] yaw=-136.8deg
-[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:57:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81352595  0.8917951   0.00559181] yaw=-165.5deg
-[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:57:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:57:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms
-[05/11 00:57:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.329, 0.006)
-[05/11 00:57:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg
-[05/11 00:57:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:57:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:57:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 00:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 00:57:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:57:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:57:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:57:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True
-[05/11 00:57:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 92.831[deg]
-[05/11 00:57:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:58:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:59:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:59:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:59:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps
-[05/11 00:59:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True
-[05/11 00:59:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.649[deg]
-[05/11 00:59:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:00:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:00:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:00:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:00:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:00:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:00:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:00:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.59s (batch: 4.69s, save: 9.90s)
-[05/11 01:00:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=224.49s, total=224.49s, count=1, min=224486.8ms, max=224486.8ms
-  sensor_polling: mean=526.2ms, total=157.87s, count=300, min=447.5ms, max=951.9ms
-  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9901.5ms, max=9901.5ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.9ms, max=135.0ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4690.7ms, max=4690.7ms
-  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
-  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:01:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:01:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:01:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/11 01:01:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:01:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:01:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073033m
-[05/11 01:01:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:01:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:01:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84748518  0.6484439   0.07303299] yaw=-170.4deg
-[05/11 01:01:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:01:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86312757  0.73962416  0.07303299] yaw=-168.7deg
-[05/11 01:01:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:01:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:01:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms
-[05/11 01:01:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.648, 0.073)
-[05/11 01:01:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg
-[05/11 01:01:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:01:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:01:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:01:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 01:01:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 01:01:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:01:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:01:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 01:01:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
-[05/11 01:01:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 94.521[deg]
-[05/11 01:01:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:04:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:04:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:04:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:04:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:04:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:04:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:04:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.93s (batch: 5.08s, save: 9.85s)
-[05/11 01:04:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
-  episode_total: mean=216.57s, total=216.57s, count=1, min=216569.2ms, max=216569.2ms
-  sensor_polling: mean=548.7ms, total=164.60s, count=300, min=460.1ms, max=1000.0ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9853.9ms, max=9853.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=72.7ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5075.7ms, max=5075.7ms
-  task_sampling: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
-  task_specific_sample: mean=516.8ms, total=516.8ms, count=1, min=516.8ms, max=516.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=475.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:04:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:04:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:04:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 01:04:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:04:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:04:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071637m
-[05/11 01:04:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:04:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:04:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99103347  1.05502453  0.07163739] yaw=-136.7deg
-[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69134363  0.55969811  0.07163739] yaw=-180.5deg
-[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.651399    0.15794562  0.07163739] yaw=162.2deg
-[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:04:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:04:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.4ms
-[05/11 01:04:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.055, 0.072)
-[05/11 01:04:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg
-[05/11 01:04:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:04:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:04:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/11 01:04:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:04:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:04:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/11 01:04:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True
-[05/11 01:04:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.518[m] 93.101[deg]
-[05/11 01:04:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:07:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:07:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:07:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:07:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:07:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:08:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:08:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:08:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.16s (batch: 4.60s, save: 11.56s)
-[05/11 01:08:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.58s:
-  episode_total: mean=216.77s, total=216.77s, count=1, min=216772.6ms, max=216772.6ms
-  sensor_polling: mean=535.8ms, total=160.73s, count=300, min=439.4ms, max=927.5ms
-  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11557.7ms, max=11557.7ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=16.3ms, max=124.5ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4604.8ms, max=4604.8ms
-  task_sampling: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms
-  task_specific_sample: mean=578.6ms, total=578.6ms, count=1, min=578.6ms, max=578.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:08:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:08:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:08:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/11 01:08:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:08:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:08:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067700m
-[05/11 01:08:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:08:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:08:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76762525  0.56303803  0.06769989] yaw=-183.2deg
-[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92997129  0.49290014  0.06769989] yaw=-174.0deg
-[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70964525  0.69947177  0.06769989] yaw=-175.5deg
-[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:08:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:08:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms
-[05/11 01:08:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.563, 0.068)
-[05/11 01:08:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg
-[05/11 01:08:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:08:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:08:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:08:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/11 01:08:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:08:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:08:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/11 01:08:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True
-[05/11 01:08:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.466[m] 84.309[deg]
-[05/11 01:08:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:11:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:11:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:11:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:11:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:11:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:11:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:11:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.68s (batch: 4.52s, save: 10.16s)
-[05/11 01:11:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s:
-  episode_total: mean=211.09s, total=211.09s, count=1, min=211086.5ms, max=211086.5ms
-  sensor_polling: mean=515.4ms, total=154.62s, count=300, min=444.0ms, max=916.3ms
-  save_trajectories: mean=10.16s, total=10.16s, count=1, min=10163.5ms, max=10163.5ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.0ms, max=106.3ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.2ms, max=4516.2ms
-  task_sampling: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
-  task_specific_sample: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:11:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:11:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:11:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/11 01:11:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:11:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:11:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006075m
-[05/11 01:11:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:11:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:11:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:11:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66282692  0.20452573  0.00607487] yaw=169.5deg
-[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:11:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87750622  1.07042391  0.00607487] yaw=-155.9deg
-[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09958896  1.05063561  0.00607487] yaw=-130.3deg
-[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:11:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:11:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.7ms, total=295.7ms
-[05/11 01:11:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.205, 0.006)
-[05/11 01:11:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg
-[05/11 01:11:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:11:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:11:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 01:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
-[05/11 01:11:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:11:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:11:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 01:11:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.040s, found feasible grasp: True
-[05/11 01:11:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.605[m] 80.216[deg]
-[05/11 01:11:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:13:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:13:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:14:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:15:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:15:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:15:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:15:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:15:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:15:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.78s (batch: 4.49s, save: 10.28s)
-[05/11 01:15:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.64s:
-  episode_total: mean=209.63s, total=209.63s, count=1, min=209633.8ms, max=209633.8ms
-  sensor_polling: mean=514.0ms, total=154.20s, count=300, min=455.5ms, max=799.7ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.7ms, max=10283.7ms
-  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.4ms, max=51.2ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.8ms, max=4492.8ms
-  task_sampling: mean=637.6ms, total=637.6ms, count=1, min=637.6ms, max=637.6ms
-  task_specific_sample: mean=631.5ms, total=631.5ms, count=1, min=631.5ms, max=631.5ms
-  scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  mj_forward_sync: mean=699.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:15:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:15:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/11 01:15:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:15:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:15:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048850m
-[05/11 01:15:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:15:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:15:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75193262  0.83687021  0.04885016] yaw=-162.8deg
-[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95815449  0.19397416  0.04885016] yaw=158.6deg
-[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91720607  0.88817433  0.04885016] yaw=-153.7deg
-[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:15:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:15:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms
-[05/11 01:15:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.837, 0.049)
-[05/11 01:15:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg
-[05/11 01:15:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:15:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 01:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
-[05/11 01:15:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:15:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:15:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 01:15:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.928s, found feasible grasp: True
-[05/11 01:15:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.549[m] 91.122[deg]
-[05/11 01:15:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:15:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:15:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:15:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/11 01:15:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:15:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:15:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025732m
-[05/11 01:15:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:15:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:15:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73618945  0.93291535  0.02573235] yaw=-165.9deg
-[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7691473   0.16135564  0.02573235] yaw=159.2deg
-[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71097551  0.51976124  0.02573235] yaw=-189.0deg
-[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:15:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:15:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.7ms, total=461.7ms
-[05/11 01:15:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.933, 0.026)
-[05/11 01:15:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg
-[05/11 01:15:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.066m
-[05/11 01:15:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:15:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 01:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/11 01:15:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:15:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:15:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 01:15:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.446s, found feasible grasp: True
-[05/11 01:15:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.639[m] 92.473[deg]
-[05/11 01:15:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:15:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:15:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/11 01:15:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:15:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:15:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076235m
-[05/11 01:15:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:15:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:15:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73021273  0.569782    0.07623487] yaw=-180.0deg
-[05/11 01:15:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96130469  1.23550447  0.07623487] yaw=-131.4deg
-[05/11 01:15:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:15:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:15:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.7ms
-[05/11 01:15:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.570, 0.076)
-[05/11 01:15:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg
-[05/11 01:15:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:15:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 01:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/11 01:15:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:15:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:15:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:15:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True
-[05/11 01:15:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 94.023[deg]
-[05/11 01:15:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:16:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:16:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:18:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:19:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:19:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:19:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:19:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:19:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:19:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.95s (batch: 4.16s, save: 8.79s)
-[05/11 01:19:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.85s:
-  episode_total: mean=79.14s, total=237.41s, count=3, min=5552.6ms, max=223771.2ms
-  sensor_polling: mean=514.7ms, total=154.41s, count=300, min=446.0ms, max=913.8ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.3ms, max=8788.3ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=18.3ms, max=51.7ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms
-  task_sampling: mean=615.3ms, total=1.85s, count=3, min=489.6ms, max=814.7ms
-  task_specific_sample: mean=611.8ms, total=1.84s, count=3, min=486.9ms, max=811.1ms
-  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=469.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:19:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:19:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:19:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/11 01:19:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:19:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:19:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041514m
-[05/11 01:19:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:19:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:19:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20584982  1.09808866  0.0415141 ] yaw=-132.5deg
-[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73512581  0.22788235  0.0415141 ] yaw=170.8deg
-[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79448476  1.01585712  0.0415141 ] yaw=-139.2deg
-[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:19:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:19:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.3ms
-[05/11 01:19:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.206, 1.098, 0.042)
-[05/11 01:19:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg
-[05/11 01:19:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
-[05/11 01:19:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:19:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:19:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:19:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:19:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:19:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 01:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 01:19:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:19:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:19:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 01:19:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
-[05/11 01:19:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.137[deg]
-[05/11 01:19:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:21:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:21:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:21:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:21:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
-[05/11 01:21:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.869s, found feasible grasp: True
-[05/11 01:21:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.226[deg]
-[05/11 01:21:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:21:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:21:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:21:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/11 01:21:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:21:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:21:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069261m
-[05/11 01:21:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:21:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:21:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79484152  0.80013879  0.06926129] yaw=-150.8deg
-[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77463404  0.21041098  0.06926129] yaw=164.2deg
-[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97717551  0.70647165  0.06926129] yaw=-165.9deg
-[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:21:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:21:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms
-[05/11 01:21:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.800, 0.069)
-[05/11 01:21:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg
-[05/11 01:21:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:21:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:21:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:21:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 01:21:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/11 01:21:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:21:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:21:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/11 01:21:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True
-[05/11 01:21:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.565[m] 93.537[deg]
-[05/11 01:21:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:22:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:23:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:24:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:25:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:25:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
-[05/11 01:25:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:25:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:25:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:25:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.98s (batch: 4.98s, save: 9.00s)
-[05/11 01:25:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s:
-  episode_total: mean=178.80s, total=357.59s, count=2, min=150629.3ms, max=206964.3ms
-  sensor_polling: mean=516.8ms, total=279.08s, count=540, min=431.6ms, max=851.4ms
-  physics_step: mean=24.9ms, total=13.46s, count=540, min=16.2ms, max=61.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=8995.4ms, max=8995.4ms
-  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4983.2ms, max=4983.2ms
-  task_sampling: mean=512.6ms, total=1.03s, count=2, min=485.6ms, max=539.7ms
-  task_specific_sample: mean=508.6ms, total=1.02s, count=2, min=481.5ms, max=535.8ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=517.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:25:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:25:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:25:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/11 01:25:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5785.88s
-  House averages:
-  episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms
-  sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms
-  save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms
-  physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms
-  save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms
-  task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms
-  task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=22.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:25:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 01:25:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5785.88s
-  Worker averages:
-  episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms
-  sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms
-  save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms
-  physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms
-  save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms
-  task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms
-  task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
-  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
-  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
-  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
-  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
-  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
-  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
-  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
-  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
-  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms
-  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
-  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
-  mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
-  policy_setup: mean=22.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:25:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 01:25:29 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/11 01:25:29 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012
-==========================================
diff --git a/fridge_7/chunk_012/shard_2_of_4.log b/fridge_7/chunk_012/shard_2_of_4.log
deleted file mode 100644
index 212f4c7cb3760be9c022698ac2fc43ca62af4fca..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_012/shard_2_of_4.log
+++ /dev/null
@@ -1,1731 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
-  shard=2/4  seed=21202  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 00:31:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 00:31:53 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 00:31:53 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x710346a62690>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21202,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 00:31:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 00:31:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 124258882214032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124258882214032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 124258882214032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124258882214032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 124258887450000 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124258887450000 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124258887449616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124258887449616 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124258887449616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124258887449616 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124258887450000 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124258887450000 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124258887678032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124258887678032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124258887670544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124258887670544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 124258887670544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124258887670544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124258887678032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124258887678032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60cf424a9c20 at 0x710346e4a710>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60cf424ab4b0 at 0x710346e59b50>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60cf424ab4b0 at 0x710346ac9250>
-[05/11 00:31:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 00:31:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:31:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:31:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072457m
-[05/11 00:31:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:31:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 00:31:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79703873  0.4237756   0.07245704] yaw=172.4deg
-[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02872824  1.22802633  0.07245704] yaw=-128.5deg
-[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:31:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63134984  0.54529931  0.07245704] yaw=-165.9deg
-[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:31:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:31:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=118.3ms, total=130.4ms
-[05/11 00:31:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.424, 0.072)
-[05/11 00:31:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg
-[05/11 00:31:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.907m
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:31:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 00:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 31.943s
-[05/11 00:32:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:32:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:32:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/11 00:32:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True
-[05/11 00:32:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.436[m] 83.949[deg]
-[05/11 00:32:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:34:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:34:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:34:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:34:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:34:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/11 00:34:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True
-[05/11 00:34:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.464[deg]
-[05/11 00:34:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:34:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:34:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:34:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:35:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:35:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:35:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 00:35:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:35:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:35:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:36:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 00:36:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:36:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.15s (batch: 4.01s, save: 9.14s)
-[05/11 00:36:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.37s:
-  episode_total: mean=252.99s, total=252.99s, count=1, min=252989.3ms, max=252989.3ms
-  sensor_polling: mean=515.4ms, total=154.61s, count=300, min=455.8ms, max=802.0ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9139.8ms, max=9139.8ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=14.7ms, max=89.7ms
-  task_sampling: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.6ms, max=4009.6ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  task_specific_sample: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=399.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:36:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:36:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:36:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/11 00:36:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:36:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:36:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023439m
-[05/11 00:36:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:36:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:36:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0362622   1.27565532  0.02343864] yaw=-130.2deg
-[05/11 00:36:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:36:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:36:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=830.8ms, total=830.8ms
-[05/11 00:36:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.276, 0.023)
-[05/11 00:36:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg
-[05/11 00:36:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.036m
-[05/11 00:36:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:36:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 00:36:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
-[05/11 00:36:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:36:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:36:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 00:36:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.527s, found feasible grasp: True
-[05/11 00:36:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.654[m] 87.640[deg]
-[05/11 00:36:17 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:36:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:36:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/11 00:36:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:36:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:36:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016345m
-[05/11 00:36:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:36:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:36:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6822468   0.60382898  0.01634511] yaw=-183.7deg
-[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96354361  0.29673132  0.01634511] yaw=169.4deg
-[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93632152  0.51046456  0.01634511] yaw=-183.0deg
-[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:36:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:36:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms
-[05/11 00:36:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.604, 0.016)
-[05/11 00:36:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg
-[05/11 00:36:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:36:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
-[05/11 00:36:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:36:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:36:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 00:36:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True
-[05/11 00:36:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.550[m] 80.649[deg]
-[05/11 00:36:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:37:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:37:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:39:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:39:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:39:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:39:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:39:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:39:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:39:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.92s (batch: 5.03s, save: 9.88s)
-[05/11 00:39:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.60s:
-  episode_total: mean=109.84s, total=219.68s, count=2, min=8707.6ms, max=210975.1ms
-  sensor_polling: mean=520.1ms, total=156.02s, count=300, min=453.2ms, max=1059.9ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9881.8ms, max=9881.8ms
-  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.6ms, max=84.5ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5034.4ms, max=5034.4ms
-  task_sampling: mean=800.5ms, total=1.60s, count=2, min=499.0ms, max=1102.0ms
-  task_specific_sample: mean=796.2ms, total=1.59s, count=2, min=495.5ms, max=1096.9ms
-  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
-  mj_forward_sync: mean=606.9us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=27.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:39:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:39:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 00:39:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:39:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:39:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061028m
-[05/11 00:39:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:39:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:39:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:39:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97253211  0.95913948  0.06102845] yaw=-152.9deg
-[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:39:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76421274  0.89554437  0.06102845] yaw=-154.6deg
-[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99722467  1.02483745  0.06102845] yaw=-142.8deg
-[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:39:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:39:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms
-[05/11 00:39:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.959, 0.061)
-[05/11 00:39:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg
-[05/11 00:39:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:39:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 00:39:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/11 00:39:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:39:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:39:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/11 00:39:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True
-[05/11 00:39:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 96.885[deg]
-[05/11 00:39:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:43:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:43:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:43:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:43:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:43:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:43:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.34s (batch: 4.47s, save: 10.86s)
-[05/11 00:43:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
-  episode_total: mean=209.84s, total=209.84s, count=1, min=209840.0ms, max=209840.0ms
-  sensor_polling: mean=512.2ms, total=153.67s, count=300, min=452.1ms, max=929.5ms
-  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.4ms, max=10864.4ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.5ms, max=119.1ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
-  task_sampling: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
-  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:43:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:43:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:43:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/11 00:43:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:43:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:43:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083086m
-[05/11 00:43:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:43:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:43:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03485443  0.83742156  0.08308624] yaw=-160.5deg
-[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6729336   0.39702582  0.08308624] yaw=173.3deg
-[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88909269  0.42279257  0.08308624] yaw=186.7deg
-[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:43:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:43:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms
-[05/11 00:43:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.837, 0.083)
-[05/11 00:43:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg
-[05/11 00:43:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:43:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:43:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:43:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 00:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s
-[05/11 00:43:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:43:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:43:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 00:43:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.221s, found feasible grasp: True
-[05/11 00:43:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.360[m] 92.489[deg]
-[05/11 00:43:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:44:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:46:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:46:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:46:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:46:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/11 00:46:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:46:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:46:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.62s (batch: 5.17s, save: 11.45s)
-[05/11 00:46:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
-  episode_total: mean=203.88s, total=203.88s, count=1, min=203884.0ms, max=203884.0ms
-  sensor_polling: mean=509.9ms, total=149.40s, count=293, min=444.3ms, max=898.2ms
-  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11451.4ms, max=11451.4ms
-  physics_step: mean=25.6ms, total=7.50s, count=293, min=18.0ms, max=97.9ms
-  save_batch_prep: mean=5.17s, total=5.17s, count=1, min=5167.0ms, max=5167.0ms
-  task_sampling: mean=501.4ms, total=501.4ms, count=1, min=501.4ms, max=501.4ms
-  task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=512.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:46:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:46:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:46:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:46:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:46:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:46:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:46:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/11 00:46:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:46:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:46:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090132m
-[05/11 00:46:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:46:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:46:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:46:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90043258  0.59141735  0.09013177] yaw=-176.3deg
-[05/11 00:46:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:46:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89834219  0.58001214  0.09013177] yaw=-176.1deg
-[05/11 00:46:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:46:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:46:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87171622  0.33409877  0.09013177] yaw=180.9deg
-[05/11 00:46:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:46:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:46:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms
-[05/11 00:46:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.591, 0.090)
-[05/11 00:46:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg
-[05/11 00:46:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
-[05/11 00:46:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:46:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:46:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:46:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:46:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:46:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 00:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/11 00:46:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:46:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:46:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:46:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
-[05/11 00:46:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.379[m] 88.408[deg]
-[05/11 00:46:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:49:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:50:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:50:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:50:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/11 00:50:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:50:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:50:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.23s (batch: 4.58s, save: 10.65s)
-[05/11 00:50:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
-  episode_total: mean=216.71s, total=216.71s, count=1, min=216707.4ms, max=216707.4ms
-  sensor_polling: mean=525.4ms, total=156.05s, count=297, min=451.8ms, max=866.0ms
-  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.3ms, max=10645.3ms
-  physics_step: mean=27.5ms, total=8.17s, count=297, min=18.0ms, max=76.8ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4584.7ms, max=4584.7ms
-  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  task_specific_sample: mean=399.0ms, total=399.0ms, count=1, min=399.0ms, max=399.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:50:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:50:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:50:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/11 00:50:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:50:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:50:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079126m
-[05/11 00:50:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:50:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:50:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:50:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:50:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72542115  0.54700934  0.07912559] yaw=-167.5deg
-[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67990677  0.77256379  0.07912559] yaw=-159.0deg
-[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69315193  0.34756244  0.07912559] yaw=163.9deg
-[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:50:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:50:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms
-[05/11 00:50:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.547, 0.079)
-[05/11 00:50:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/11 00:50:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:50:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:50:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 00:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/11 00:50:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:50:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:50:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:50:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True
-[05/11 00:50:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.583[m] 92.399[deg]
-[05/11 00:50:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:53:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:53:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:53:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 00:53:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:53:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:53:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:53:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.33s (batch: 4.34s, save: 8.99s)
-[05/11 00:53:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
-  episode_total: mean=211.45s, total=211.45s, count=1, min=211446.9ms, max=211446.9ms
-  sensor_polling: mean=532.2ms, total=159.67s, count=300, min=464.9ms, max=964.7ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.1ms, max=8989.1ms
-  physics_step: mean=24.6ms, total=7.39s, count=300, min=15.3ms, max=67.6ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.9ms, max=4338.9ms
-  task_sampling: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
-  task_specific_sample: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=384.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:54:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:54:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:54:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/11 00:54:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:54:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:54:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045202m
-[05/11 00:54:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:54:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:54:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16087066  1.03945931  0.04520151] yaw=-127.4deg
-[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10642694  1.22571936  0.04520151] yaw=-119.1deg
-[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99267228  1.2174553   0.04520151] yaw=-133.7deg
-[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:54:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:54:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.6ms
-[05/11 00:54:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.161, 1.039, 0.045)
-[05/11 00:54:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg
-[05/11 00:54:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:54:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:54:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:54:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 00:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/11 00:54:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:54:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:54:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 94.162[deg]
-[05/11 00:54:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:56:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:56:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:56:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps
-[05/11 00:56:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
-[05/11 00:56:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]
-[05/11 00:56:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:56:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:56:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:56:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
-[05/11 00:56:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:56:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:56:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043174m
-[05/11 00:56:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:56:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:56:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07783071  1.09688986  0.0431744 ] yaw=-146.4deg
-[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87600809  0.46788561  0.0431744 ] yaw=177.4deg
-[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79890149  0.03924415  0.0431744 ] yaw=143.9deg
-[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:56:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:56:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms
-[05/11 00:56:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.097, 0.043)
-[05/11 00:56:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg
-[05/11 00:56:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:56:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:56:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 00:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/11 00:56:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:56:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:56:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps
-[05/11 00:56:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: True
-[05/11 00:56:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 87.067[deg]
-[05/11 00:56:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:59:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:59:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:59:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:59:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
-[05/11 00:59:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 4.038s, found feasible grasp: True
-[05/11 00:59:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.212[deg]
-[05/11 00:59:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/11 00:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062078m
-[05/11 00:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78626021  0.09818999  0.06207754] yaw=159.1deg
-[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80954933  0.28675749  0.06207754] yaw=175.0deg
-[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=514.6ms, total=514.6ms
-[05/11 00:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.098, 0.062)
-[05/11 00:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
-[05/11 00:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 00:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
-[05/11 00:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True
-[05/11 00:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.526[m] 84.420[deg]
-[05/11 00:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:00:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:00:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:00:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:02:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:02:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:02:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps
-[05/11 01:02:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.871s, found feasible grasp: True
-[05/11 01:02:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.430[deg]
-[05/11 01:02:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:03:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:03:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:03:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:03:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:03:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:03:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:03:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.19s (batch: 5.30s, save: 10.89s)
-[05/11 01:03:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.70s:
-  episode_total: mean=194.57s, total=583.70s, count=3, min=165929.1ms, max=248597.5ms
-  sensor_polling: mean=529.9ms, total=442.49s, count=835, min=422.6ms, max=994.8ms
-  physics_step: mean=27.0ms, total=22.53s, count=835, min=18.1ms, max=102.6ms
-  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10888.3ms, max=10888.3ms
-  save_batch_prep: mean=5.30s, total=5.30s, count=1, min=5300.5ms, max=5300.5ms
-  task_sampling: mean=566.1ms, total=1.70s, count=3, min=398.9ms, max=837.8ms
-  task_specific_sample: mean=561.5ms, total=1.68s, count=3, min=393.2ms, max=833.6ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.5ms, max=2.4ms
-  mj_forward_sync: mean=538.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:03:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:03:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:03:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 01:03:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:03:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:03:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094525m
-[05/11 01:03:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:03:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:03:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99580039  0.92593319  0.09452461] yaw=-155.1deg
-[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89034538  0.6533655   0.09452461] yaw=-163.2deg
-[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70198041  0.62395356  0.09452461] yaw=-165.0deg
-[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:03:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:03:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms
-[05/11 01:03:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.926, 0.095)
-[05/11 01:03:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg
-[05/11 01:03:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:03:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:03:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 01:03:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:03:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:03:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 01:03:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True
-[05/11 01:03:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 96.999[deg]
-[05/11 01:03:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:04:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:04:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:06:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:07:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:07:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:07:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:07:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:07:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:07:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.54s (batch: 4.16s, save: 8.38s)
-[05/11 01:07:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=213.42s, total=213.42s, count=1, min=213417.0ms, max=213417.0ms
-  sensor_polling: mean=549.4ms, total=164.83s, count=300, min=438.9ms, max=920.5ms
-  physics_step: mean=28.0ms, total=8.40s, count=300, min=17.4ms, max=135.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8380.2ms, max=8380.2ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4164.4ms, max=4164.4ms
-  task_sampling: mean=516.5ms, total=516.5ms, count=1, min=516.5ms, max=516.5ms
-  task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:07:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:07:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:07:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/11 01:07:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:07:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:07:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051633m
-[05/11 01:07:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:07:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:07:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:07:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92462928  0.70687248  0.05163345] yaw=-170.7deg
-[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90409973  0.89511045  0.05163345] yaw=-145.4deg
-[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:07:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7336586   0.59018937  0.05163345] yaw=-176.0deg
-[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:07:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:07:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms
-[05/11 01:07:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.707, 0.052)
-[05/11 01:07:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.7 deg
-[05/11 01:07:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:07:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:07:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:07:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
-[05/11 01:07:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:07:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:07:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/11 01:07:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True
-[05/11 01:07:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 100.816[deg]
-[05/11 01:07:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:10:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:10:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:10:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:10:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:10:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:10:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:10:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.35s, save: 8.99s)
-[05/11 01:10:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
-  episode_total: mean=205.92s, total=205.92s, count=1, min=205924.7ms, max=205924.7ms
-  sensor_polling: mean=527.3ms, total=158.20s, count=300, min=433.2ms, max=927.0ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8986.8ms, max=8986.8ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.6ms, max=69.0ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms
-  task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms
-  task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=476.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:10:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:10:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:10:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/11 01:10:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:10:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:10:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030932m
-[05/11 01:10:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:10:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:10:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:10:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14725609  1.04957896  0.03093211] yaw=-123.1deg
-[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:10:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.933356    1.23562823  0.03093211] yaw=-127.7deg
-[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66386339  0.25345216  0.03093211] yaw=170.9deg
-[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:10:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:10:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.0ms
-[05/11 01:10:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.147, 1.050, 0.031)
-[05/11 01:10:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg
-[05/11 01:10:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:10:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:10:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:10:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 01:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
-[05/11 01:10:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:10:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:10:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps
-[05/11 01:10:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.766s, found feasible grasp: True
-[05/11 01:10:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.383[m] 95.491[deg]
-[05/11 01:10:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/11 01:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True
-[05/11 01:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.268[deg]
-[05/11 01:13:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:13:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:13:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:13:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/11 01:13:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:13:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:13:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083466m
-[05/11 01:13:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:13:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:13:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79585751  0.82905212  0.0834661 ] yaw=-159.9deg
-[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9524958   0.89061067  0.0834661 ] yaw=-145.6deg
-[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91179361  0.97099895  0.0834661 ] yaw=-149.7deg
-[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:13:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:13:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms
-[05/11 01:13:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.829, 0.083)
-[05/11 01:13:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
-[05/11 01:13:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:13:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:13:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 01:13:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 01:13:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:13:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:13:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:13:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.714s, found feasible grasp: True
-[05/11 01:13:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.516[m] 77.360[deg]
-[05/11 01:13:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 01:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:15:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:15:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:15:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.103s, found 84 non-colliding grasps
-[05/11 01:15:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.894s, found feasible grasp: True
-[05/11 01:15:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.852[deg]
-[05/11 01:15:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:15:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:16:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:16:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:16:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:16:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:17:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:17:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:17:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.70s (batch: 5.00s, save: 9.70s)
-[05/11 01:17:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s:
-  episode_total: mean=184.92s, total=369.85s, count=2, min=161238.3ms, max=208611.4ms
-  sensor_polling: mean=513.3ms, total=293.12s, count=571, min=437.2ms, max=966.3ms
-  physics_step: mean=26.0ms, total=14.84s, count=571, min=15.7ms, max=134.9ms
-  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9702.1ms, max=9702.1ms
-  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=4995.1ms, max=4995.1ms
-  task_sampling: mean=448.6ms, total=897.1ms, count=2, min=399.4ms, max=497.7ms
-  task_specific_sample: mean=444.5ms, total=889.0ms, count=2, min=396.2ms, max=492.8ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
-  mj_forward_sync: mean=534.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:17:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:17:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:17:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:17:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:17:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:17:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:17:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/11 01:17:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:17:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:17:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027580m
-[05/11 01:17:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:17:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:17:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:17:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8641577   0.93806892  0.02757969] yaw=-140.6deg
-[05/11 01:17:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:17:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:17:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74302662  0.67726413  0.02757969] yaw=-160.3deg
-[05/11 01:17:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:17:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81374165  0.40992061  0.02757969] yaw=171.3deg
-[05/11 01:17:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:17:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:17:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=337.7ms, total=337.7ms
-[05/11 01:17:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.938, 0.028)
-[05/11 01:17:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg
-[05/11 01:17:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
-[05/11 01:17:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:17:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:17:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:17:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:17:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:17:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 01:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
-[05/11 01:17:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:17:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:17:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:17:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True
-[05/11 01:17:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.075[deg]
-[05/11 01:17:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:19:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:20:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:20:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:20:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:20:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:20:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:20:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.89s, save: 10.33s)
-[05/11 01:20:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.66s:
-  episode_total: mean=208.07s, total=208.07s, count=1, min=208073.0ms, max=208073.0ms
-  sensor_polling: mean=511.1ms, total=153.33s, count=300, min=436.8ms, max=984.9ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.6ms, max=10330.6ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.9ms, max=106.7ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4886.6ms, max=4886.6ms
-  task_sampling: mean=662.3ms, total=662.3ms, count=1, min=662.3ms, max=662.3ms
-  task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=519.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:20:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:20:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:20:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/11 01:20:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:20:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:20:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008795m
-[05/11 01:20:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:20:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:20:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82776748  0.31146456  0.00879518] yaw=162.1deg
-[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86060839  0.47730959  0.00879518] yaw=183.6deg
-[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70898278  0.12555192  0.00879518] yaw=169.5deg
-[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:20:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:20:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.9ms, total=377.0ms
-[05/11 01:20:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.311, 0.009)
-[05/11 01:20:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg
-[05/11 01:20:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
-[05/11 01:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:20:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 01:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s
-[05/11 01:20:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:20:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:20:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 01:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True
-[05/11 01:20:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.409[m] 78.876[deg]
-[05/11 01:20:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:23:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:23:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:23:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:23:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:24:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:24:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:24:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.75s (batch: 4.97s, save: 10.78s)
-[05/11 01:24:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
-  episode_total: mean=218.05s, total=218.05s, count=1, min=218046.2ms, max=218046.2ms
-  sensor_polling: mean=518.7ms, total=155.61s, count=300, min=443.5ms, max=821.3ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.7ms, max=10779.7ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.7ms, max=55.6ms
-  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4974.8ms, max=4974.8ms
-  task_sampling: mean=694.1ms, total=694.1ms, count=1, min=694.1ms, max=694.1ms
-  task_specific_sample: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=505.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:24:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:24:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:24:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:24:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:24:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:24:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:24:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/11 01:24:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:24:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:24:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020788m
-[05/11 01:24:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:24:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:24:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95672894  0.92231154  0.02078793] yaw=-153.9deg
-[05/11 01:24:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68725466  0.25258337  0.02078793] yaw=176.4deg
-[05/11 01:24:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:24:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77346627  0.90575767  0.02078793] yaw=-163.0deg
-[05/11 01:24:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:24:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:24:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.8ms, total=323.8ms
-[05/11 01:24:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.922, 0.021)
-[05/11 01:24:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg
-[05/11 01:24:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.866m
-[05/11 01:24:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:24:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:24:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:24:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:24:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:24:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 01:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/11 01:24:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:24:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:24:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 01:24:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True
-[05/11 01:24:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 86.325[deg]
-[05/11 01:24:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:25:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:26:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:27:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:27:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:27:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:27:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:27:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:27:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.00s (batch: 4.13s, save: 9.86s)
-[05/11 01:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s:
-  episode_total: mean=204.13s, total=204.13s, count=1, min=204125.8ms, max=204125.8ms
-  sensor_polling: mean=498.0ms, total=149.39s, count=300, min=431.6ms, max=769.0ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.7ms, max=9863.7ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=14.9ms, max=60.9ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.7ms, max=4131.7ms
-  task_sampling: mean=642.6ms, total=642.6ms, count=1, min=642.6ms, max=642.6ms
-  task_specific_sample: mean=638.5ms, total=638.5ms, count=1, min=638.5ms, max=638.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=528.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/11 01:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007669m
-[05/11 01:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74168338  0.36468161  0.00766889] yaw=163.4deg
-[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70008901  0.5505019   0.00766889] yaw=-171.7deg
-[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01510742  1.09344213  0.00766889] yaw=-135.9deg
-[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms
-[05/11 01:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.365, 0.008)
-[05/11 01:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg
-[05/11 01:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:27:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:27:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 01:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/11 01:27:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:27:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 01:27:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True
-[05/11 01:27:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.499[m] 88.368[deg]
-[05/11 01:27:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:28:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:30:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:30:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
-[05/11 01:30:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:30:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:30:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:30:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.83s (batch: 4.22s, save: 8.61s)
-[05/11 01:30:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
-  episode_total: mean=195.20s, total=195.20s, count=1, min=195200.5ms, max=195200.5ms
-  sensor_polling: mean=471.1ms, total=141.34s, count=300, min=419.6ms, max=726.3ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8608.4ms, max=8608.4ms
-  physics_step: mean=23.5ms, total=7.04s, count=300, min=14.3ms, max=58.4ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.8ms, max=4219.8ms
-  task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms
-  task_specific_sample: mean=586.9ms, total=586.9ms, count=1, min=586.9ms, max=586.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=501.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:31:00 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:31:00 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:31:00 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
-[05/11 01:31:00 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6467.05s
-  House averages:
-  episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms
-  sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms
-  save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms
-  physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms
-  save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms
-  task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms
-  task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:31:00 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 01:31:00 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6467.05s
-  Worker averages:
-  episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms
-  sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms
-  save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms
-  physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms
-  save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms
-  task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms
-  task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms
-  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
-  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
-  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
-  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
-  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
-  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
-  scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms
-  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
-  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
-  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
-  mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:31:03 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 01:31:03 INFO pipeline.py:1491] Success count: 14, Total count: 14
-[05/11 01:31:03 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012
-==========================================
diff --git a/fridge_7/chunk_012/shard_3_of_4.log b/fridge_7/chunk_012/shard_3_of_4.log
deleted file mode 100644
index 4e991e946c1773b86cd1a110859fba34277ed515..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_012/shard_3_of_4.log
+++ /dev/null
@@ -1,1718 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
-  shard=3/4  seed=21203  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f11fb08b950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21203,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 139715206466576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139715206466576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 139715206466576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 139715206466576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 139715202121040 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139715202121040 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139715202121680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139715202121680 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139715202121680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139715202121680 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139715202121040 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139715202121040 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139715202743440 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139715202743440 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 139715202731344 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139715202731344 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 139715202731344 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 139715202731344 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 139715202743440 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 139715202743440 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f3b98b04860 at 0x7f11fb5f74d0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f3b98b06390 at 0x7f11fb601910>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f3b98b06390 at 0x7f11fb589c10>
-[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031160m
-[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09490439  1.07504864  0.0311603 ] yaw=-136.0deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00394469  0.98809626  0.0311603 ] yaw=-132.8deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88382103  0.75091782  0.0311603 ] yaw=-157.6deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.0ms, retries=266.7ms, total=278.7ms
-[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.075, 0.031)
-[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:31:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 32.338s
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.769s, found feasible grasp: True
-[05/11 00:32:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.568[deg]
-[05/11 00:32:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:33:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:35:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:35:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:35:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:35:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:35:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:35:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:35:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:35:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 76 non-colliding grasps
-[05/11 00:35:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.474s, found feasible grasp: True
-[05/11 00:35:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.232[deg]
-[05/11 00:35:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:35:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:35:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:35:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/11 00:35:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:35:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:35:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085219m
-[05/11 00:35:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:35:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:35:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97920217  0.86561529  0.08521921] yaw=-155.3deg
-[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90656725  0.10595769  0.08521921] yaw=156.3deg
-[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9327433   0.49607284  0.08521921] yaw=-177.4deg
-[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:35:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:35:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.0ms, total=121.0ms
-[05/11 00:35:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.866, 0.085)
-[05/11 00:35:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg
-[05/11 00:35:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:35:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:35:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 00:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/11 00:35:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:35:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:35:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/11 00:35:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True
-[05/11 00:35:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 75.004[deg]
-[05/11 00:35:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:36:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:38:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 00:38:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:38:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:38:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
-[05/11 00:38:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 00:38:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:38:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.79s (batch: 4.21s, save: 9.57s)
-[05/11 00:38:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=5.13s:
-  episode_total: mean=203.83s, total=407.66s, count=2, min=202391.6ms, max=205267.7ms
-  sensor_polling: mean=517.9ms, total=294.67s, count=569, min=430.9ms, max=972.5ms
-  physics_step: mean=24.2ms, total=13.75s, count=569, min=17.1ms, max=91.3ms
-  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9574.9ms, max=9574.9ms
-  task_sampling: mean=2.57s, total=5.13s, count=2, min=603.1ms, max=4530.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.1ms, max=4213.1ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  task_specific_sample: mean=651.7ms, total=1.30s, count=2, min=599.8ms, max=703.6ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
-  mj_forward_sync: mean=451.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=33.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:38:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:38:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:38:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:38:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:38:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:38:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:38:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 00:38:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:38:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:38:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094684m
-[05/11 00:38:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:38:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:38:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:38:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81100144  0.01318435  0.09468424] yaw=147.4deg
-[05/11 00:38:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:38:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.1ms, total=179.2ms
-[05/11 00:38:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.013, 0.095)
-[05/11 00:38:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.4 deg
-[05/11 00:38:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.007m
-[05/11 00:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:38:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:38:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 00:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
-[05/11 00:38:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:38:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:38:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 00:38:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.094s, found feasible grasp: True
-[05/11 00:38:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.598[m] 96.121[deg]
-[05/11 00:38:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:40:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:41:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:42:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:42:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:42:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:42:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:42:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:42:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.22s (batch: 4.79s, save: 11.43s)
-[05/11 00:42:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.46s:
-  episode_total: mean=215.95s, total=215.95s, count=1, min=215950.4ms, max=215950.4ms
-  sensor_polling: mean=521.8ms, total=156.53s, count=300, min=452.5ms, max=887.1ms
-  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11432.1ms, max=11432.1ms
-  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.5ms, max=89.4ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4792.7ms, max=4792.7ms
-  task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
-  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=595.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:42:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:42:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:42:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/11 00:42:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:42:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:42:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022767m
-[05/11 00:42:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:42:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:42:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68773587  0.3700653   0.02276685] yaw=182.2deg
-[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67430075  0.66295777  0.02276685] yaw=-168.0deg
-[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9383255   1.15625671  0.02276685] yaw=-127.8deg
-[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:42:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:42:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.8ms
-[05/11 00:42:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.370, 0.023)
-[05/11 00:42:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg
-[05/11 00:42:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.021m
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:42:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:42:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:42:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 00:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 00:42:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:42:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:42:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 00:42:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
-[05/11 00:42:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 101.935[deg]
-[05/11 00:42:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:43:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:43:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:45:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:45:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:45:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:45:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:45:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:45:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:45:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.32s (batch: 4.50s, save: 8.81s)
-[05/11 00:45:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=207.26s, total=207.26s, count=1, min=207264.0ms, max=207264.0ms
-  sensor_polling: mean=513.9ms, total=154.17s, count=300, min=442.8ms, max=999.0ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.4ms, max=8811.4ms
-  physics_step: mean=25.2ms, total=7.55s, count=300, min=17.1ms, max=128.7ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.0ms, max=4504.0ms
-  task_sampling: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
-  task_specific_sample: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:45:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:45:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
-[05/11 00:45:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:45:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:45:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087919m
-[05/11 00:45:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:45:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:45:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74510075  0.03820371  0.0879185 ] yaw=150.1deg
-[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95035402  0.53996909  0.0879185 ] yaw=-185.1deg
-[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93903755  0.2303884   0.0879185 ] yaw=153.1deg
-[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:45:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:45:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.4ms
-[05/11 00:45:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.038, 0.088)
-[05/11 00:45:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg
-[05/11 00:45:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:45:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 00:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 00:45:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:45:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:45:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 00:45:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: True
-[05/11 00:45:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.621[m] 91.433[deg]
-[05/11 00:45:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:45:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:45:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/11 00:45:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:45:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:45:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047052m
-[05/11 00:45:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:45:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:45:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79221895  1.02478728  0.04705247] yaw=-147.3deg
-[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63712943  0.40846091  0.04705247] yaw=183.5deg
-[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92338768  0.65964233  0.04705247] yaw=-177.9deg
-[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:45:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:45:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.5ms, total=375.5ms
-[05/11 00:45:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 1.025, 0.047)
-[05/11 00:45:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
-[05/11 00:45:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:45:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 00:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 00:45:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:45:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:45:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 00:46:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.607s, found feasible grasp: True
-[05/11 00:46:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.663[m] 79.538[deg]
-[05/11 00:46:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:48:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:49:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:49:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:49:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:49:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:49:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:49:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.65s (batch: 4.61s, save: 11.04s)
-[05/11 00:49:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
-  episode_total: mean=106.31s, total=212.63s, count=2, min=3417.0ms, max=209209.8ms
-  sensor_polling: mean=501.3ms, total=150.40s, count=300, min=427.7ms, max=894.5ms
-  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11038.5ms, max=11038.5ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.2ms, max=112.5ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.1ms, max=4607.1ms
-  task_sampling: mean=585.2ms, total=1.17s, count=2, min=518.5ms, max=651.9ms
-  task_specific_sample: mean=581.2ms, total=1.16s, count=2, min=513.8ms, max=648.5ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
-  mj_forward_sync: mean=556.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:49:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:49:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:49:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/11 00:49:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:49:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:49:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000409m
-[05/11 00:49:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:49:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:49:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-7.68158897e-01  3.28490743e-01  4.09137457e-04] yaw=176.4deg
-[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-7.39010607e-01  9.41711776e-01  4.09137457e-04] yaw=-147.0deg
-[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.52533349e-01  3.16823200e-01  4.09137457e-04] yaw=162.3deg
-[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.8ms, total=418.8ms
-[05/11 00:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.328, 0.000)
-[05/11 00:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg
-[05/11 00:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.947m
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:49:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:49:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 00:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/11 00:49:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:49:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:49:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:49:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
-[05/11 00:49:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.522[m] 96.177[deg]
-[05/11 00:49:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:52:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:52:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:52:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:52:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:52:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:52:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:52:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.84s (batch: 4.55s, save: 9.29s)
-[05/11 00:52:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.73s:
-  episode_total: mean=210.24s, total=210.24s, count=1, min=210236.5ms, max=210236.5ms
-  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=441.2ms, max=949.4ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.8ms, max=9287.8ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=69.0ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.0ms, max=4553.0ms
-  task_sampling: mean=727.0ms, total=727.0ms, count=1, min=727.0ms, max=727.0ms
-  task_specific_sample: mean=722.3ms, total=722.3ms, count=1, min=722.3ms, max=722.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:53:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:53:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:53:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:53:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:53:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:53:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:53:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 00:53:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:53:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:53:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m
-[05/11 00:53:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:53:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:53:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:53:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10472766  1.00752333  0.06463532] yaw=-140.5deg
-[05/11 00:53:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:53:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:53:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=509.9ms, total=510.0ms
-[05/11 00:53:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.008, 0.065)
-[05/11 00:53:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg
-[05/11 00:53:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
-[05/11 00:53:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:53:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:53:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:53:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:53:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:53:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 00:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
-[05/11 00:53:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:53:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:53:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps
-[05/11 00:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.576s, found feasible grasp: True
-[05/11 00:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 80.329[deg]
-[05/11 00:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:53:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:55:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:55:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:55:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:55:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:55:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:55:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:55:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps
-[05/11 00:55:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.734s, found feasible grasp: True
-[05/11 00:55:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]
-[05/11 00:55:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:56:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:56:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:56:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:56:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:56:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:56:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:56:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/11 00:56:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:56:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:56:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011196m
-[05/11 00:56:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:56:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:56:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:56:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79223216  0.25844613  0.01119644] yaw=177.5deg
-[05/11 00:56:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:56:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66756092  0.7413375   0.01119644] yaw=-160.5deg
-[05/11 00:56:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:56:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83090592  0.80556625  0.01119644] yaw=-149.0deg
-[05/11 00:56:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:56:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:56:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.4ms, total=284.4ms
-[05/11 00:56:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.258, 0.011)
-[05/11 00:56:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg
-[05/11 00:56:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.937m
-[05/11 00:56:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:56:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:56:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:56:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:56:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:56:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 00:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/11 00:56:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:56:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:56:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:56:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True
-[05/11 00:56:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.514[m] 82.741[deg]
-[05/11 00:56:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:57:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:57:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:58:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:59:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:59:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 00:59:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:59:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:59:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:59:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.96s (batch: 4.42s, save: 11.54s)
-[05/11 00:59:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.41s:
-  episode_total: mean=198.16s, total=396.31s, count=2, min=179208.7ms, max=217103.2ms
-  sensor_polling: mean=519.5ms, total=302.89s, count=583, min=434.7ms, max=967.3ms
-  physics_step: mean=25.5ms, total=14.89s, count=583, min=17.2ms, max=115.7ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11539.1ms, max=11539.1ms
-  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4422.9ms, max=4422.9ms
-  task_sampling: mean=704.8ms, total=1.41s, count=2, min=601.2ms, max=808.3ms
-  task_specific_sample: mean=700.2ms, total=1.40s, count=2, min=597.6ms, max=802.8ms
-  scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.4ms, max=3.8ms
-  mj_forward_sync: mean=562.6us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/11 00:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051369m
-[05/11 00:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94972559  0.86943033  0.05136863] yaw=-145.9deg
-[05/11 00:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83047996  0.01959731  0.05136863] yaw=144.5deg
-[05/11 00:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05437008  0.91907745  0.05136863] yaw=-144.8deg
-[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.3ms, total=316.3ms
-[05/11 00:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.869, 0.051)
-[05/11 00:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
-[05/11 00:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 00:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.183s
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 00:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True
-[05/11 00:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.398[m] 78.170[deg]
-[05/11 00:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:00:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:00:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:02:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:03:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:03:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 01:03:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:03:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:03:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:03:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.70s (batch: 4.82s, save: 10.88s)
-[05/11 01:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.66s:
-  episode_total: mean=222.82s, total=222.82s, count=1, min=222819.1ms, max=222819.1ms
-  sensor_polling: mean=540.2ms, total=162.05s, count=300, min=449.3ms, max=1043.5ms
-  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.8ms, max=10880.8ms
-  physics_step: mean=26.0ms, total=7.80s, count=300, min=14.0ms, max=98.0ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.8ms, max=4822.8ms
-  task_sampling: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
-  task_specific_sample: mean=653.5ms, total=653.5ms, count=1, min=653.5ms, max=653.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=635.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:03:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:03:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:03:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/11 01:03:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:03:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:03:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049113m
-[05/11 01:03:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:03:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:03:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:03:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:03:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98185232  0.69869961  0.04911298] yaw=-171.3deg
-[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93247261  0.35054965  0.04911298] yaw=174.0deg
-[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70554748  0.38824591  0.04911298] yaw=177.6deg
-[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:03:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:03:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.6ms, total=117.6ms
-[05/11 01:03:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.699, 0.049)
-[05/11 01:03:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg
-[05/11 01:03:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:03:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:03:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 01:03:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:03:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:03:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/11 01:03:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True
-[05/11 01:03:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.307[m] 84.203[deg]
-[05/11 01:03:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:06:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:06:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:06:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 01:06:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 282 timesteps
-[05/11 01:06:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:06:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:06:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.78s (batch: 4.87s, save: 7.91s)
-[05/11 01:06:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
-  episode_total: mean=205.37s, total=205.37s, count=1, min=205365.9ms, max=205365.9ms
-  sensor_polling: mean=546.4ms, total=153.54s, count=281, min=460.6ms, max=955.3ms
-  physics_step: mean=28.6ms, total=8.03s, count=281, min=17.1ms, max=95.6ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7911.5ms, max=7911.5ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4867.0ms, max=4867.0ms
-  task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms
-  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=399.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:06:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:06:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:06:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/11 01:06:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:06:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:06:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085186m
-[05/11 01:06:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:06:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:06:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14437849  1.06312684  0.08518589] yaw=-140.0deg
-[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86505017  0.69693549  0.08518589] yaw=-164.7deg
-[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09350318  1.07438658  0.08518589] yaw=-147.0deg
-[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:06:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:06:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.9ms, total=180.9ms
-[05/11 01:06:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.063, 0.085)
-[05/11 01:06:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg
-[05/11 01:06:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:06:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:06:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:06:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 01:06:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:06:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:06:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:06:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True
-[05/11 01:06:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 86.064[deg]
-[05/11 01:06:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:09:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:09:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:09:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps
-[05/11 01:09:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True
-[05/11 01:09:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.193[deg]
-[05/11 01:09:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:09:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:09:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:09:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:09:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:09:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:09:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:09:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/11 01:09:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:09:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:09:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024336m
-[05/11 01:09:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:09:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:09:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.19326899  1.05713592  0.02433585] yaw=-132.4deg
-[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00016054  0.15123706  0.02433585] yaw=144.1deg
-[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92755703  0.27811194  0.02433585] yaw=166.9deg
-[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:09:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:09:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=393.8ms, total=393.9ms
-[05/11 01:09:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.057, 0.024)
-[05/11 01:09:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg
-[05/11 01:09:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
-[05/11 01:09:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:09:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:09:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:09:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:09:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:09:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 01:09:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/11 01:09:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:09:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:09:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/11 01:09:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
-[05/11 01:09:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.354[m] 95.899[deg]
-[05/11 01:09:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:10:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:11:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:11:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:12:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:12:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:12:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/11 01:12:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.724s, found feasible grasp: True
-[05/11 01:12:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]
-[05/11 01:12:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:12:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:12:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:12:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/11 01:12:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:12:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:12:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037888m
-[05/11 01:12:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:12:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:12:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66350002  0.67970398  0.03788772] yaw=-160.4deg
-[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93581982  1.08023455  0.03788772] yaw=-131.4deg
-[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61972077  0.62236317  0.03788772] yaw=-183.6deg
-[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:12:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:12:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms
-[05/11 01:12:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.680, 0.038)
-[05/11 01:12:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg
-[05/11 01:12:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:12:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:12:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:12:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 01:12:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/11 01:12:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:12:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:12:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:12:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True
-[05/11 01:12:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.622[m] 88.433[deg]
-[05/11 01:12:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:13:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:14:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:15:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:15:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 01:15:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:15:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:15:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:15:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.74s (batch: 4.60s, save: 10.14s)
-[05/11 01:15:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.69s:
-  episode_total: mean=172.89s, total=518.68s, count=3, min=152793.3ms, max=208263.3ms
-  sensor_polling: mean=505.3ms, total=408.77s, count=809, min=436.0ms, max=941.6ms
-  physics_step: mean=24.4ms, total=19.72s, count=809, min=14.9ms, max=93.3ms
-  save_trajectories: mean=10.14s, total=10.14s, count=1, min=10142.8ms, max=10142.8ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4600.1ms, max=4600.1ms
-  task_sampling: mean=562.4ms, total=1.69s, count=3, min=473.8ms, max=683.0ms
-  task_specific_sample: mean=558.7ms, total=1.68s, count=3, min=470.1ms, max=679.8ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=430.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:15:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:15:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/11 01:15:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:15:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:15:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047011m
-[05/11 01:15:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:15:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:15:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8170683   1.09731259  0.04701104] yaw=-141.8deg
-[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93503871  1.06264163  0.04701104] yaw=-148.0deg
-[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81882568  0.31903686  0.04701104] yaw=166.2deg
-[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:15:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:15:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.1ms
-[05/11 01:15:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 1.097, 0.047)
-[05/11 01:15:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg
-[05/11 01:15:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:15:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:15:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 01:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
-[05/11 01:15:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:15:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:15:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:15:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.332s, found feasible grasp: True
-[05/11 01:15:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.712[m] 99.992[deg]
-[05/11 01:15:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:18:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:18:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:18:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 01:18:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:19:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:19:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:19:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.26s (batch: 4.86s, save: 9.40s)
-[05/11 01:19:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s:
-  episode_total: mean=210.22s, total=210.22s, count=1, min=210221.3ms, max=210221.3ms
-  sensor_polling: mean=513.6ms, total=154.09s, count=300, min=440.3ms, max=996.7ms
-  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.9ms, max=9400.9ms
-  physics_step: mean=24.0ms, total=7.20s, count=300, min=14.7ms, max=91.6ms
-  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.8ms, max=4857.8ms
-  task_sampling: mean=555.6ms, total=555.6ms, count=1, min=555.6ms, max=555.6ms
-  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:19:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:19:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:19:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/11 01:19:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:19:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:19:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019149m
-[05/11 01:19:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:19:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:19:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:19:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05237895  1.01868004  0.01914921] yaw=-137.5deg
-[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70781492  0.11485943  0.01914921] yaw=168.6deg
-[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65081496  0.20178327  0.01914921] yaw=170.6deg
-[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:19:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:19:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.9ms, total=94.9ms
-[05/11 01:19:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.019, 0.019)
-[05/11 01:19:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg
-[05/11 01:19:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.843m
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:19:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:19:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 01:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 01:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
-[05/11 01:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.418[m] 87.757[deg]
-[05/11 01:19:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:21:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:22:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:22:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:22:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
-[05/11 01:22:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.995s, found feasible grasp: True
-[05/11 01:22:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg]
-[05/11 01:22:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:22:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:22:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:22:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:22:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:22:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:22:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:22:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/11 01:22:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:22:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:22:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076680m
-[05/11 01:22:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:22:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:22:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92314954  1.10485947  0.0766802 ] yaw=-134.8deg
-[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63024405  0.66377445  0.0766802 ] yaw=-171.4deg
-[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67610444  0.34624319  0.0766802 ] yaw=172.6deg
-[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:22:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:22:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.5ms, total=315.6ms
-[05/11 01:22:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 1.105, 0.077)
-[05/11 01:22:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg
-[05/11 01:22:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
-[05/11 01:22:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:22:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:22:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:22:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:22:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:22:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 01:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/11 01:22:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:22:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:22:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 01:22:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.946s, found feasible grasp: True
-[05/11 01:22:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.613[m] 91.726[deg]
-[05/11 01:22:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:24:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
-[05/11 01:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:25:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:25:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:25:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.63s (batch: 4.40s, save: 8.23s)
-[05/11 01:25:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.98s:
-  episode_total: mean=192.17s, total=384.34s, count=2, min=176410.1ms, max=207930.6ms
-  sensor_polling: mean=514.2ms, total=302.85s, count=589, min=440.6ms, max=857.7ms
-  physics_step: mean=24.4ms, total=14.35s, count=589, min=14.7ms, max=75.6ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.5ms, max=8227.5ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.0ms, max=4401.0ms
-  task_sampling: mean=491.8ms, total=983.7ms, count=2, min=403.5ms, max=580.2ms
-  task_specific_sample: mean=488.1ms, total=976.1ms, count=2, min=399.6ms, max=576.5ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
-  mj_forward_sync: mean=483.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:25:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:25:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:25:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/11 01:25:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:25:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:25:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078737m
-[05/11 01:25:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:25:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:25:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:25:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90937513  1.22019679  0.07873666] yaw=-142.7deg
-[05/11 01:25:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:25:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:25:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.6ms
-[05/11 01:25:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.220, 0.079)
-[05/11 01:25:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg
-[05/11 01:25:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:25:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:25:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:25:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 01:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 01:25:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:25:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:25:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/11 01:25:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: False
-[05/11 01:25:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 01:25:40 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:25:40 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:25:40 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
-[05/11 01:25:40 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5896.49s
-  House averages:
-  episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms
-  sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms
-  physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms
-  save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms
-  save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms
-  task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms
-  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:25:40 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 01:25:40 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5896.49s
-  Worker averages:
-  episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms
-  sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms
-  physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms
-  save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms
-  save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms
-  task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms
-  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms
-  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
-  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
-  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
-  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
-  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
-  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
-  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
-  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms
-  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
-  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
-  mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:25:43 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 01:25:43 INFO pipeline.py:1491] Success count: 11, Total count: 11
-[05/11 01:25:43 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012
-==========================================
diff --git a/fridge_7/chunk_012/shard_4_of_4.log b/fridge_7/chunk_012/shard_4_of_4.log
deleted file mode 100644
index 06d7b7d66f748b26e2e00ebfb1295d65a6ec2a9a..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_012/shard_4_of_4.log
+++ /dev/null
@@ -1,1805 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
-  shard=4/4  seed=21204  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x79e3f2140710>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21204,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 134019926786704 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134019926786704 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 134019926786704 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134019926786704 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 134019924278928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134019924278928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134019924279056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134019924279056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134019924279056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134019924279056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134019924278928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134019924278928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134019923837072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134019923837072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134019923840400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134019923840400 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 134019923840400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134019923840400 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134019923837072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134019923837072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5ee5ad65afa0 at 0x79e3f2666690>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5ee5ad65c750 at 0x79e3f23883d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5ee5ad65c750 at 0x79e3f27fd0d0>
-[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
-[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073737m
-[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76412524  0.95428965  0.07373731] yaw=-164.3deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97319632  1.19036629  0.07373731] yaw=-133.1deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.7ms, retries=618.9ms, total=642.5ms
-[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.954, 0.074)
-[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg
-[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:31:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.067s
-[05/11 00:32:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:32:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:32:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 00:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 9.956s, found feasible grasp: True
-[05/11 00:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.609[m] 92.309[deg]
-[05/11 00:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:33:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:34:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:35:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 00:35:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:35:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:35:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:36:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 00:36:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:36:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.29s (batch: 4.68s, save: 11.61s)
-[05/11 00:36:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.56s:
-  episode_total: mean=261.53s, total=261.53s, count=1, min=261529.0ms, max=261529.0ms
-  sensor_polling: mean=527.2ms, total=158.17s, count=300, min=446.0ms, max=866.2ms
-  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11612.7ms, max=11612.7ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=17.2ms, max=129.4ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.2ms, max=4677.2ms
-  task_sampling: mean=4.55s, total=4.55s, count=1, min=4555.0ms, max=4555.0ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1039.6ms, max=1039.6ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=388.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=45.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:36:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:36:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/11 00:36:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:36:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:36:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049903m
-[05/11 00:36:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:36:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:36:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90075782  0.38807623  0.04990331] yaw=177.4deg
-[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94787856  1.02740991  0.04990331] yaw=-151.9deg
-[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90776025  0.35156427  0.04990331] yaw=170.2deg
-[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:36:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:36:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=636.4ms, total=636.5ms
-[05/11 00:36:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.388, 0.050)
-[05/11 00:36:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg
-[05/11 00:36:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.807m
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:36:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:36:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 00:36:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/11 00:36:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:36:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:36:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/11 00:36:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True
-[05/11 00:36:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.355[m] 86.191[deg]
-[05/11 00:36:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:37:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:38:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:38:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:38:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:38:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:38:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/11 00:38:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.418s, found feasible grasp: True
-[05/11 00:38:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.217[deg]
-[05/11 00:38:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:38:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:38:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:38:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/11 00:38:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:38:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:38:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049728m
-[05/11 00:38:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:38:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:38:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6620719   0.61116951  0.04972796] yaw=-162.0deg
-[05/11 00:38:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6748658   0.6162039   0.04972796] yaw=-167.1deg
-[05/11 00:38:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:38:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:38:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.3ms
-[05/11 00:38:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.611, 0.050)
-[05/11 00:38:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
-[05/11 00:38:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.048m
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:38:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:38:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 00:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/11 00:38:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:38:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:38:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 00:38:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True
-[05/11 00:38:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.601[m] 85.943[deg]
-[05/11 00:38:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:39:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:41:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:41:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:41:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:41:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:41:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:41:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:41:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.88s (batch: 4.27s, save: 9.61s)
-[05/11 00:41:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.44s:
-  episode_total: mean=163.16s, total=326.32s, count=2, min=118299.9ms, max=208022.8ms
-  sensor_polling: mean=525.8ms, total=255.01s, count=485, min=441.3ms, max=1092.0ms
-  physics_step: mean=24.6ms, total=11.95s, count=485, min=15.4ms, max=132.9ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9613.9ms, max=9613.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
-  task_sampling: mean=722.3ms, total=1.44s, count=2, min=519.7ms, max=924.9ms
-  task_specific_sample: mean=718.5ms, total=1.44s, count=2, min=516.5ms, max=920.5ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=479.0us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:41:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:41:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:41:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/11 00:41:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:41:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:41:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027709m
-[05/11 00:41:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:41:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:41:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00318048  1.01292841  0.0277086 ] yaw=-145.8deg
-[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64626573  0.31438186  0.0277086 ] yaw=175.8deg
-[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.701376    0.58884135  0.0277086 ] yaw=-177.8deg
-[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:41:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:41:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=502.4ms, total=502.5ms
-[05/11 00:41:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.013, 0.028)
-[05/11 00:41:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg
-[05/11 00:41:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:41:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:41:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 00:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/11 00:41:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:41:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:41:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/11 00:41:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True
-[05/11 00:41:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.126[deg]
-[05/11 00:41:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:44:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:45:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:45:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:45:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:45:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:45:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:45:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 4.82s, save: 9.54s)
-[05/11 00:45:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.79s:
-  episode_total: mean=209.38s, total=209.38s, count=1, min=209384.5ms, max=209384.5ms
-  sensor_polling: mean=517.7ms, total=155.30s, count=300, min=434.7ms, max=1047.5ms
-  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9537.6ms, max=9537.6ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.0ms, max=131.7ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.6ms, max=4823.6ms
-  task_sampling: mean=794.3ms, total=794.3ms, count=1, min=794.3ms, max=794.3ms
-  task_specific_sample: mean=790.0ms, total=790.0ms, count=1, min=790.0ms, max=790.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=536.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:45:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:45:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/11 00:45:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:45:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:45:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069934m
-[05/11 00:45:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:45:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:45:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94098893  0.67006087  0.06993384] yaw=-159.3deg
-[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:45:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94263695  0.93391546  0.06993384] yaw=-138.1deg
-[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:45:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95753268  0.6355937   0.06993384] yaw=-166.0deg
-[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:45:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:45:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms
-[05/11 00:45:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.670, 0.070)
-[05/11 00:45:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.3 deg
-[05/11 00:45:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:45:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:45:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:45:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 00:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
-[05/11 00:45:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:45:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:45:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/11 00:45:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True
-[05/11 00:45:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.335[m] 87.337[deg]
-[05/11 00:45:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:46:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:48:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:48:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:48:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:48:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/11 00:48:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:48:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:48:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.18s (batch: 4.51s, save: 8.67s)
-[05/11 00:48:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=198.10s, total=198.10s, count=1, min=198096.4ms, max=198096.4ms
-  sensor_polling: mean=516.1ms, total=148.63s, count=288, min=440.6ms, max=822.1ms
-  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.0ms, max=8669.0ms
-  physics_step: mean=25.2ms, total=7.25s, count=288, min=14.8ms, max=58.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4508.3ms, max=4508.3ms
-  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
-  task_specific_sample: mean=470.7ms, total=470.7ms, count=1, min=470.7ms, max=470.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:48:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:48:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:48:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 00:48:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:48:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:48:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061277m
-[05/11 00:48:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:48:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:48:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95067     0.4779803   0.06127664] yaw=180.6deg
-[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69789322  0.27156207  0.06127664] yaw=168.6deg
-[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66926416  0.85339012  0.06127664] yaw=-164.0deg
-[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:48:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:48:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=546.5ms, total=546.5ms
-[05/11 00:48:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.478, 0.061)
-[05/11 00:48:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.6 deg
-[05/11 00:48:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:48:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:48:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 00:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
-[05/11 00:48:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:48:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:48:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 00:48:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True
-[05/11 00:48:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.285[m] 90.192[deg]
-[05/11 00:48:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:49:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:51:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:51:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:51:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:51:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 278 timesteps
-[05/11 00:51:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:51:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:51:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.06s (batch: 4.18s, save: 10.88s)
-[05/11 00:52:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.85s:
-  episode_total: mean=201.34s, total=201.34s, count=1, min=201337.3ms, max=201337.3ms
-  sensor_polling: mean=531.8ms, total=147.30s, count=277, min=451.0ms, max=1004.3ms
-  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.1ms, max=10880.1ms
-  physics_step: mean=28.0ms, total=7.76s, count=277, min=18.1ms, max=69.6ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.1ms, max=4183.1ms
-  task_sampling: mean=853.0ms, total=853.0ms, count=1, min=853.0ms, max=853.0ms
-  task_specific_sample: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 00:52:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/11 00:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066349m
-[05/11 00:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:52:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91207555  0.26156429  0.0663489 ] yaw=167.2deg
-[05/11 00:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84854508  0.12651558  0.0663489 ] yaw=146.2deg
-[05/11 00:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81526875  0.25258478  0.0663489 ] yaw=173.5deg
-[05/11 00:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=620.4ms, total=620.5ms
-[05/11 00:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.262, 0.066)
-[05/11 00:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg
-[05/11 00:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
-[05/11 00:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 00:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.150s
-[05/11 00:52:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:52:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:52:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/11 00:52:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True
-[05/11 00:52:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.386[m] 89.506[deg]
-[05/11 00:52:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:52:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 00:53:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 00:53:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 00:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 00:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 00:53:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 00:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.456s, found feasible grasp: True
-[05/11 00:54:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.169[deg]
-[05/11 00:54:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 00:54:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:54:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:54:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/11 00:54:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:54:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:54:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022520m
-[05/11 00:54:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:54:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:54:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92858926  1.04154216  0.02251965] yaw=-134.7deg
-[05/11 00:54:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:54:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:54:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.9ms
-[05/11 00:54:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.042, 0.023)
-[05/11 00:54:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg
-[05/11 00:54:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:54:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 00:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 00:54:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:54:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:54:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 00:54:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True
-[05/11 00:54:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.551[m] 89.450[deg]
-[05/11 00:54:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:54:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:54:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 00:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 00:56:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:56:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:56:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/11 00:56:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.463s, found feasible grasp: True
-[05/11 00:56:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.618[deg]
-[05/11 00:56:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:56:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:56:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 00:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 00:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 00:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 00:57:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 00:57:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 00:57:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.93s (batch: 4.37s, save: 8.56s)
-[05/11 00:57:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=165.73s, total=331.46s, count=2, min=122219.1ms, max=209240.9ms
-  sensor_polling: mean=535.1ms, total=261.13s, count=488, min=444.7ms, max=1032.6ms
-  physics_step: mean=24.8ms, total=12.08s, count=488, min=15.1ms, max=98.5ms
-  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8561.6ms, max=8561.6ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
-  task_sampling: mean=776.2ms, total=1.55s, count=2, min=632.5ms, max=920.0ms
-  task_specific_sample: mean=772.3ms, total=1.54s, count=2, min=629.0ms, max=915.6ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=480.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 00:57:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 00:57:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:57:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
-[05/11 00:57:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 00:57:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 00:57:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022112m
-[05/11 00:57:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 00:57:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 00:57:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87970226  0.77682183  0.02211193] yaw=-161.8deg
-[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64175594  0.73723587  0.02211193] yaw=-173.7deg
-[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74451428  0.45632229  0.02211193] yaw=174.9deg
-[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 00:57:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 00:57:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.8ms
-[05/11 00:57:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.777, 0.022)
-[05/11 00:57:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg
-[05/11 00:57:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 00:57:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 00:57:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 00:57:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 00:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/11 00:57:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 00:57:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 00:57:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 00:57:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True
-[05/11 00:57:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 89.653[deg]
-[05/11 00:57:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 00:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 00:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 00:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 00:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 00:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:00:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:00:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:00:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:00:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:01:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:01:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:01:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.65s (batch: 5.21s, save: 9.43s)
-[05/11 01:01:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
-  episode_total: mean=209.63s, total=209.63s, count=1, min=209625.9ms, max=209625.9ms
-  sensor_polling: mean=531.0ms, total=159.30s, count=300, min=445.3ms, max=930.9ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9432.8ms, max=9432.8ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=15.8ms, max=83.4ms
-  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5214.6ms, max=5214.6ms
-  task_sampling: mean=493.8ms, total=493.8ms, count=1, min=493.8ms, max=493.8ms
-  task_specific_sample: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=432.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:01:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:01:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:01:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 01:01:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:01:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:01:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094954m
-[05/11 01:01:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:01:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:01:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:01:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74883115  0.31468155  0.09495364] yaw=169.0deg
-[05/11 01:01:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:01:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:01:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=399.8ms, total=399.8ms
-[05/11 01:01:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.315, 0.095)
-[05/11 01:01:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg
-[05/11 01:01:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:01:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:01:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:01:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 01:01:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
-[05/11 01:01:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:01:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:01:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 01:01:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.979s, found feasible grasp: True
-[05/11 01:01:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.482[m] 85.427[deg]
-[05/11 01:01:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:02:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:03:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:03:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:03:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:03:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
-[05/11 01:03:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True
-[05/11 01:03:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.662[deg]
-[05/11 01:03:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:04:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:04:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:04:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/11 01:04:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True
-[05/11 01:04:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.641[deg]
-[05/11 01:04:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10
-[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 01:04:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:04:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:04:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps
-[05/11 01:04:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True
-[05/11 01:04:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.632[deg]
-[05/11 01:04:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:04:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:04:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:04:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:04:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:05:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:05:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:05:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.87s (batch: 5.15s, save: 11.72s)
-[05/11 01:05:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
-  episode_total: mean=235.28s, total=235.28s, count=1, min=235276.9ms, max=235276.9ms
-  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=467.2ms, max=953.5ms
-  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11722.2ms, max=11722.2ms
-  physics_step: mean=28.4ms, total=8.52s, count=300, min=16.1ms, max=96.1ms
-  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5148.9ms, max=5148.9ms
-  task_sampling: mean=754.0ms, total=754.0ms, count=1, min=754.0ms, max=754.0ms
-  task_specific_sample: mean=748.6ms, total=748.6ms, count=1, min=748.6ms, max=748.6ms
-  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  mj_forward_sync: mean=712.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:05:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:05:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:05:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 01:05:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:05:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:05:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065164m
-[05/11 01:05:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:05:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:05:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95275879  0.56732967  0.06516449] yaw=-167.9deg
-[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08313551  1.23266603  0.06516449] yaw=-121.9deg
-[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68954507  0.69903309  0.06516449] yaw=-165.3deg
-[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:05:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:05:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms
-[05/11 01:05:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.567, 0.065)
-[05/11 01:05:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg
-[05/11 01:05:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.754m
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:05:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:05:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:05:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
-[05/11 01:05:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:05:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:05:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/11 01:05:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True
-[05/11 01:05:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 93.092[deg]
-[05/11 01:05:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:07:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:08:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:08:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:08:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps
-[05/11 01:08:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:08:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:08:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.55s (batch: 4.26s, save: 9.29s)
-[05/11 01:08:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
-  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.1ms, max=211050.1ms
-  sensor_polling: mean=535.8ms, total=155.93s, count=291, min=443.8ms, max=890.7ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.0ms, max=9287.0ms
-  physics_step: mean=26.3ms, total=7.64s, count=291, min=18.4ms, max=130.2ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.8ms, max=4263.8ms
-  task_sampling: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
-  task_specific_sample: mean=562.0ms, total=562.0ms, count=1, min=562.0ms, max=562.0ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=546.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:08:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:08:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:08:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
-[05/11 01:08:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:08:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:08:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069999m
-[05/11 01:08:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:08:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:08:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96962827  1.13930153  0.06999854] yaw=-130.4deg
-[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84403357  0.2248159   0.06999854] yaw=166.3deg
-[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92898542  0.75883318  0.06999854] yaw=-171.5deg
-[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:08:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:08:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=622.1ms, total=622.1ms
-[05/11 01:08:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.970, 1.139, 0.070)
-[05/11 01:08:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg
-[05/11 01:08:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:08:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:08:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:08:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:08:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
-[05/11 01:08:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:08:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:08:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 01:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True
-[05/11 01:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 93.706[deg]
-[05/11 01:08:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:09:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:11:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:11:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:11:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/11 01:11:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.731s, found feasible grasp: True
-[05/11 01:11:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]
-[05/11 01:11:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:11:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:11:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:11:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:11:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/11 01:11:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:11:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:11:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096305m
-[05/11 01:11:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:11:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:11:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07556008  1.02621619  0.0963047 ] yaw=-148.5deg
-[05/11 01:11:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:11:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93203563  0.69690118  0.0963047 ] yaw=-165.6deg
-[05/11 01:11:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:11:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90133029  0.44901761  0.0963047 ] yaw=171.1deg
-[05/11 01:11:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:11:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:11:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms
-[05/11 01:11:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.026, 0.096)
-[05/11 01:11:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg
-[05/11 01:11:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.830m
-[05/11 01:11:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:11:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:11:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:11:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:11:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:11:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 01:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
-[05/11 01:11:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:11:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:11:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 01:11:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True
-[05/11 01:11:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.445[m] 93.914[deg]
-[05/11 01:11:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:14:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:14:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:14:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:14:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:14:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
-[05/11 01:14:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.818s, found feasible grasp: True
-[05/11 01:14:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.264[deg]
-[05/11 01:14:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:14:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:14:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:14:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:14:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:14:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:14:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:14:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/11 01:14:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:14:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:14:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034307m
-[05/11 01:14:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:14:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:14:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84303402  0.62519028  0.03430668] yaw=-179.6deg
-[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73489129  0.79333864  0.03430668] yaw=-172.4deg
-[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91440587  0.54954698  0.03430668] yaw=-177.1deg
-[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:14:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:14:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.7ms, total=475.7ms
-[05/11 01:14:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.625, 0.034)
-[05/11 01:14:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg
-[05/11 01:14:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
-[05/11 01:14:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:14:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:14:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:14:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:14:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:14:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 01:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
-[05/11 01:14:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:14:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:14:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:14:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
-[05/11 01:14:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.474[m] 99.993[deg]
-[05/11 01:14:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:15:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:17:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:17:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:17:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:17:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:18:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:18:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:18:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.95s (batch: 4.74s, save: 10.22s)
-[05/11 01:18:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=2.25s:
-  episode_total: mean=189.62s, total=568.87s, count=3, min=175689.7ms, max=216762.6ms
-  sensor_polling: mean=515.9ms, total=451.44s, count=875, min=434.7ms, max=963.9ms
-  physics_step: mean=24.3ms, total=21.25s, count=875, min=17.3ms, max=72.3ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.0ms, max=10216.0ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4737.7ms, max=4737.7ms
-  task_sampling: mean=751.6ms, total=2.25s, count=3, min=528.7ms, max=982.7ms
-  task_specific_sample: mean=746.4ms, total=2.24s, count=3, min=525.7ms, max=974.4ms
-  scene_randomize: mean=3.2ms, total=9.6ms, count=3, min=1.3ms, max=6.8ms
-  mj_forward_sync: mean=504.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:18:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:18:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:18:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/11 01:18:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:18:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:18:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049791m
-[05/11 01:18:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:18:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:18:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97874704  0.15561878  0.04979086] yaw=158.5deg
-[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93230919  0.08012078  0.04979086] yaw=145.9deg
-[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90899298  0.37382178  0.04979086] yaw=170.8deg
-[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:18:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:18:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms
-[05/11 01:18:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.156, 0.050)
-[05/11 01:18:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg
-[05/11 01:18:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:18:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:18:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 01:18:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 01:18:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:18:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:18:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/11 01:18:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True
-[05/11 01:18:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.390[m] 91.844[deg]
-[05/11 01:18:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
-[05/11 01:20:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.454s, found feasible grasp: True
-[05/11 01:20:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.093[deg]
-[05/11 01:20:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:20:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:20:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/11 01:20:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:20:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:20:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018823m
-[05/11 01:20:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:20:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:20:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03448841  1.23831279  0.01882287] yaw=-141.1deg
-[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64787606  0.27231223  0.01882287] yaw=171.3deg
-[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83751008  0.73580633  0.01882287] yaw=-164.5deg
-[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:20:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:20:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms
-[05/11 01:20:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.238, 0.019)
-[05/11 01:20:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg
-[05/11 01:20:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.009m
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:20:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 01:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/11 01:20:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:20:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:20:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/11 01:20:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.694s, found feasible grasp: True
-[05/11 01:20:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 87.297[deg]
-[05/11 01:20:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:20:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:20:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 01:20:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:20:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:20:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m
-[05/11 01:20:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:20:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:20:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.882288    1.01623007  0.01028124] yaw=-153.7deg
-[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85910866  0.27574051  0.01028124] yaw=173.2deg
-[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65477632  0.23826548  0.01028124] yaw=157.9deg
-[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:20:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:20:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms
-[05/11 01:20:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.016, 0.010)
-[05/11 01:20:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg
-[05/11 01:20:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:20:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:20:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 01:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 01:20:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:20:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:20:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 01:20:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.762s, found feasible grasp: True
-[05/11 01:20:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.531[m] 86.039[deg]
-[05/11 01:20:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:21:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:21:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:23:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:23:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:23:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:23:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/11 01:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.702s, found feasible grasp: True
-[05/11 01:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.643[deg]
-[05/11 01:23:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:23:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:23:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:23:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:23:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:24:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:24:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:24:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 3.93s, save: 10.44s)
-[05/11 01:24:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.44s:
-  episode_total: mean=117.84s, total=353.53s, count=3, min=3500.8ms, max=226852.3ms
-  sensor_polling: mean=518.1ms, total=253.33s, count=489, min=442.1ms, max=868.0ms
-  physics_step: mean=23.7ms, total=11.61s, count=489, min=14.5ms, max=59.2ms
-  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.0ms, max=10435.0ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3928.6ms, max=3928.6ms
-  task_sampling: mean=480.5ms, total=1.44s, count=3, min=430.6ms, max=528.7ms
-  task_specific_sample: mean=476.4ms, total=1.43s, count=3, min=426.2ms, max=525.4ms
-  scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=481.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:24:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:24:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:24:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 01:24:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:24:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:24:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061125m
-[05/11 01:24:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:24:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:24:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7052415   0.65116065  0.06112526] yaw=-160.6deg
-[05/11 01:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02381396  1.25283957  0.06112526] yaw=-126.3deg
-[05/11 01:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:24:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:24:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms
-[05/11 01:24:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.651, 0.061)
-[05/11 01:24:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg
-[05/11 01:24:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:24:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:24:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 01:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
-[05/11 01:24:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:24:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:24:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 01:24:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True
-[05/11 01:24:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.556[m] 85.137[deg]
-[05/11 01:24:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:26:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:27:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:27:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
-[05/11 01:27:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:27:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:27:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
-[05/11 01:27:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.03s (batch: 4.09s, save: 7.94s)
-[05/11 01:27:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
-  episode_total: mean=200.88s, total=200.88s, count=1, min=200875.7ms, max=200875.7ms
-  sensor_polling: mean=504.6ms, total=151.39s, count=300, min=443.2ms, max=1158.1ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7941.1ms, max=7941.1ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=17.5ms, max=35.3ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.0ms, max=4087.0ms
-  task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms
-  task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=667.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:27:35 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:27:35 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012
-[05/11 01:27:35 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
-[05/11 01:27:35 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=6095.32s
-  House averages:
-  episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms
-  sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms
-  save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms
-  physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms
-  save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms
-  task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms
-  task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:27:35 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 01:27:35 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=6095.32s
-  Worker averages:
-  episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms
-  sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms
-  save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms
-  physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms
-  save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms
-  task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms
-  task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms
-  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
-  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
-  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
-  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
-  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
-  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
-  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
-  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
-  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
-  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms
-  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
-  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
-  mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms
-  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 01:27:38 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 01:27:38 INFO pipeline.py:1491] Success count: 12, Total count: 12
-[05/11 01:27:38 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012
-==========================================
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-05/11 01:31:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 01:31:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 01:31:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 01:31:28 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72ef2f458a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
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-                                'gripper': [0.00296, 0.00296]},
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-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
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- 'shared_output_dir': True,
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-                 'added_objects': {},
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-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 01:31:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 01:31:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 01:31:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 01:31:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 01:31:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 01:31:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 01:31:28 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70cd8b031810>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21303,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 01:31:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 01:31:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 01:31:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 01:31:28 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 01:31:29 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 01:31:29 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 01:31:29 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 01:31:29 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73c14f1e1650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21302,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 01:31:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 01:31:29 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 01:31:29 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 01:31:29 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 01:31:29 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 01:31:29 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 01:31:29 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x787db5d8fd90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21304,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 01:31:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 01:31:29 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 01:31:29 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 01:31:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 01:31:31 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 01:31:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 01:31:31 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 01:31:31 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 01:31:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079492m	[env.py: 870]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:31:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 01:31:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081018m	[env.py: 870]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:31:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 01:31:32 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94466076  1.24345228  0.07949187] yaw=-127.7deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94097666  0.20912728  0.08101815] yaw=158.0deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 01:31:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=14.4ms, retries=281.7ms, total=296.2ms	[env.py: 1075]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.243, 0.079)	[env.py: 1079]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg	[env.py: 1082]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036991m	[env.py: 870]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:31:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78488079  0.9359038   0.08101815] yaw=-144.6deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01091474  0.15636647  0.08101815] yaw=152.9deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=24.4ms, retries=393.1ms, total=417.5ms	[env.py: 1075]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.209, 0.081)	[env.py: 1079]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg	[env.py: 1082]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658824  0.94301909  0.03699079] yaw=-145.2deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:31:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 01:31:32 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60928348  0.46715654  0.03699079] yaw=189.8deg	[env.py: 1019]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=70.9ms, retries=299.9ms, total=370.9ms	[env.py: 1075]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.943, 0.037)	[env.py: 1079]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 01:31:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096745m	[env.py: 870]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:31:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91514459  0.70968822  0.09674462] yaw=-172.7deg	[env.py: 1019]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96692728  0.72929753  0.09674462] yaw=-170.9deg	[env.py: 1019]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70788417  0.10207095  0.09674462] yaw=166.2deg	[env.py: 1019]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:31:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=22.8ms, retries=264.2ms, total=286.9ms	[env.py: 1075]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.710, 0.097)	[env.py: 1079]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg	[env.py: 1082]
-05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:31:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:31:33 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:32:00 INFO: [Worker 0] Warmed up parallel IK solver in 27.291s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:32:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:32:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:32:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:32:01 INFO: [Worker 0] Warmed up parallel IK solver in 28.996s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:32:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:32:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:32:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 28.813s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 29.511s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:32:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.103s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:32:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 83.451[deg]	[grasp_sample.py: 539]
-05/11 01:32:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:32:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:32:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:32:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.346[m] 84.768[deg]	[grasp_sample.py: 539]
-05/11 01:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:32:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 89.921[deg]	[grasp_sample.py: 539]
-05/11 01:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:32:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:32:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:32:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 01:32:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 01:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:32:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:32:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010278m	[env.py: 870]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95346817  0.76576416  0.01027799] yaw=-155.5deg	[env.py: 1019]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61373926  0.51464779  0.01027799] yaw=-186.5deg	[env.py: 1019]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=190.9ms	[env.py: 1075]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.766, 0.010)	[env.py: 1079]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg	[env.py: 1082]
-05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:32:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:32:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:32:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:32:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:32:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:32:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 92.895[deg]	[grasp_sample.py: 539]
-05/11 01:32:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:32:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:32:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:32:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:32:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:32:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:32:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:33:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:33:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:33:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:33:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:33:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:33:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:33:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:33:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:33:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:33:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.595[deg]	[grasp_sample.py: 539]
-05/11 01:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:33:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:33:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010639m	[env.py: 870]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66648087  0.81771899  0.01063919] yaw=-155.5deg	[env.py: 1019]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72922579  0.22027566  0.01063919] yaw=175.8deg	[env.py: 1019]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76402374  0.87655768  0.01063919] yaw=-149.7deg	[env.py: 1019]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.8ms, total=180.8ms	[env.py: 1075]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.818, 0.011)	[env.py: 1079]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg	[env.py: 1082]
-05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:33:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:33:59 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:34:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.667s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:34:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 85.171[deg]	[grasp_sample.py: 539]
-05/11 01:34:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:34:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:34:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:34:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:34:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:34:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:35:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:35:08 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:35:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:35:08 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/11 01:35:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:35:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:35:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:35:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:35:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:35:13 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/11 01:35:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:35:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:35:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:35:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:35:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.13s (batch: 4.27s, save: 8.86s)	[pipeline.py: 300]
-05/11 01:35:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.98s:
-  episode_total: mean=233.22s, total=233.22s, count=1, min=233216.6ms, max=233216.6ms
-  sensor_polling: mean=516.0ms, total=153.26s, count=297, min=449.7ms, max=910.3ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8855.0ms, max=8855.0ms
-  physics_step: mean=24.8ms, total=7.36s, count=297, min=18.2ms, max=69.3ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.3ms, max=4270.3ms
-  task_sampling: mean=3.98s, total=3.98s, count=1, min=3979.6ms, max=3979.6ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=670.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:35:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:35:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021089m	[env.py: 870]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:35:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:35:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.74s (batch: 5.21s, save: 8.54s)	[pipeline.py: 300]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0237606   0.81904354  0.02108882] yaw=-151.9deg	[env.py: 1019]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84613182  0.66262588  0.02108882] yaw=-176.1deg	[env.py: 1019]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87771129  0.74042412  0.02108882] yaw=-171.8deg	[env.py: 1019]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms	[env.py: 1075]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.819, 0.021)	[env.py: 1079]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
-05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:35:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:35:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:35:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:35:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:35:24 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.32s:
-  episode_total: mean=236.32s, total=236.32s, count=1, min=236323.7ms, max=236323.7ms
-  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=450.2ms, max=805.5ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8536.5ms, max=8536.5ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=18.2ms, max=109.4ms
-  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5207.7ms, max=5207.7ms
-  task_sampling: mean=4.32s, total=4.32s, count=1, min=4322.4ms, max=4322.4ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  task_specific_sample: mean=696.1ms, total=696.1ms, count=1, min=696.1ms, max=696.1ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  mj_forward_sync: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/11 01:35:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:35:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 90.756[deg]	[grasp_sample.py: 539]
-05/11 01:35:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:35:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024994m	[env.py: 870]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1017253   1.08829437  0.02499427] yaw=-123.7deg	[env.py: 1019]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96416722  0.09796324  0.02499427] yaw=161.8deg	[env.py: 1019]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07448418  0.90395562  0.02499427] yaw=-144.4deg	[env.py: 1019]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms	[env.py: 1075]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.088, 0.025)	[env.py: 1079]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.7 deg	[env.py: 1082]
-05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:35:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:35:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.94s (batch: 4.59s, save: 9.35s)	[pipeline.py: 300]
-05/11 01:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:35:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:35:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.85s:
-  episode_total: mean=118.72s, total=237.44s, count=2, min=36175.7ms, max=201266.7ms
-  sensor_polling: mean=515.1ms, total=152.99s, count=297, min=447.7ms, max=747.4ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.8ms, max=9352.8ms
-  physics_step: mean=25.8ms, total=7.65s, count=297, min=15.7ms, max=134.4ms
-  task_sampling: mean=2.43s, total=4.85s, count=2, min=446.6ms, max=4407.1ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.3ms, max=4586.3ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  task_specific_sample: mean=598.9ms, total=1.20s, count=2, min=442.7ms, max=755.1ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=514.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=37.3us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:35:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 102.086[deg]	[grasp_sample.py: 539]
-05/11 01:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:35:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037574m	[env.py: 870]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69249484  0.76433619  0.03757412] yaw=-169.9deg	[env.py: 1019]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91685599  1.1151431   0.03757412] yaw=-147.9deg	[env.py: 1019]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72237891  0.18693578  0.03757412] yaw=172.1deg	[env.py: 1019]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=108.9ms	[env.py: 1075]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.764, 0.038)	[env.py: 1079]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
-05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:35:29 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:35:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:35:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051528m	[env.py: 870]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506172  0.94062126  0.05152806] yaw=-137.3deg	[env.py: 1019]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67623001  0.24465709  0.05152806] yaw=156.0deg	[env.py: 1019]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10976061  1.00077301  0.05152806] yaw=-133.2deg	[env.py: 1019]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms	[env.py: 1075]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.941, 0.052)	[env.py: 1079]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:35:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:35:31 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:35:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:35:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 97.223[deg]	[grasp_sample.py: 539]
-05/11 01:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 95.832[deg]	[grasp_sample.py: 539]
-05/11 01:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:35:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:35:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:35:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:35:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:35:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:36:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:36:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:36:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:36:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:36:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:36:37 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:36:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:36:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:37:00 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:37:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:37:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:37:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:37:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:37:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.46s (batch: 4.46s, save: 9.00s)	[pipeline.py: 300]
-05/11 01:37:14 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.20s:
-  episode_total: mean=171.78s, total=343.55s, count=2, min=148352.9ms, max=195199.2ms
-  sensor_polling: mean=506.4ms, total=239.01s, count=472, min=421.5ms, max=871.1ms
-  physics_step: mean=24.6ms, total=11.63s, count=472, min=17.2ms, max=65.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9000.2ms, max=9000.2ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.5ms, max=4458.5ms
-  task_sampling: mean=2.10s, total=4.20s, count=2, min=442.8ms, max=3759.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  task_specific_sample: mean=616.4ms, total=1.23s, count=2, min=440.0ms, max=792.9ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.4ms, max=1.5ms
-  mj_forward_sync: mean=445.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=30.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:37:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:37:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:37:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048771m	[env.py: 870]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96786748  1.2396158   0.04877066] yaw=-137.8deg	[env.py: 1019]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94120844  0.08156254  0.04877066] yaw=155.1deg	[env.py: 1019]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 1.240, 0.049)	[env.py: 1079]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg	[env.py: 1082]
-05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:37:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:37:16 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:37:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:37:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:37:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:37:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.652[m] 89.142[deg]	[grasp_sample.py: 539]
-05/11 01:37:19 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:37:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:37:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:37:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:37:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:37:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020202m	[env.py: 870]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86381574  0.27934673  0.02020165] yaw=168.8deg	[env.py: 1019]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74006074  0.77350165  0.02020165] yaw=-159.1deg	[env.py: 1019]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:37:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.4ms	[env.py: 1075]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.279, 0.020)	[env.py: 1079]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
-05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:37:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:37:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:37:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:37:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:37:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:37:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:37:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:37:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 83.610[deg]	[grasp_sample.py: 539]
-05/11 01:37:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:37:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:37:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:37:59 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:38:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:38:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:38:11 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:38:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:38:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:38:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:38:20 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/11 01:38:29 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:38:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:38:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:38:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:38:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:38:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:38:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.90s (batch: 4.67s, save: 8.23s)	[pipeline.py: 300]
-05/11 01:38:34 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.77s, total=189.77s, count=1, min=189771.6ms, max=189771.6ms
-  sensor_polling: mean=506.3ms, total=144.30s, count=285, min=447.1ms, max=722.6ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.3ms, max=8229.3ms
-  physics_step: mean=24.3ms, total=6.92s, count=285, min=15.2ms, max=61.0ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
-  task_sampling: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  task_specific_sample: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:38:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:38:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053195m	[env.py: 870]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82994202  0.22643865  0.05319456] yaw=154.2deg	[env.py: 1019]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08443057  0.98622681  0.05319456] yaw=-136.7deg	[env.py: 1019]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82916455  0.78750751  0.05319456] yaw=-166.7deg	[env.py: 1019]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.7ms	[env.py: 1075]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.226, 0.053)	[env.py: 1079]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
-05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:38:36 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:38:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:38:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:38:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:38:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:38:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.507[m] 96.282[deg]	[grasp_sample.py: 539]
-05/11 01:38:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:38:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:38:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:38:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:38:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:38:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.02s (batch: 4.41s, save: 8.61s)	[pipeline.py: 300]
-05/11 01:38:42 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s:
-  episode_total: mean=193.56s, total=193.56s, count=1, min=193562.3ms, max=193562.3ms
-  sensor_polling: mean=486.8ms, total=146.05s, count=300, min=437.7ms, max=654.5ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8610.1ms, max=8610.1ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=15.8ms, max=33.8ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.2ms, max=4406.2ms
-  task_sampling: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms
-  task_specific_sample: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:38:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:38:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:38:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059563m	[env.py: 870]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00665645  0.12652272  0.05956302] yaw=160.7deg	[env.py: 1019]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86614407  1.13379898  0.05956302] yaw=-142.8deg	[env.py: 1019]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95791409  0.1044396   0.05956302] yaw=149.5deg	[env.py: 1019]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms	[env.py: 1075]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.127, 0.060)	[env.py: 1079]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg	[env.py: 1082]
-05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m	[env.py: 1086]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:38:45 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:38:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:38:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:38:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:38:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:38:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.346[m] 90.367[deg]	[grasp_sample.py: 539]
-05/11 01:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:38:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:38:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:38:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:38:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.75s (batch: 4.81s, save: 8.93s)	[pipeline.py: 300]
-05/11 01:38:47 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s:
-  episode_total: mean=99.59s, total=199.18s, count=2, min=2479.6ms, max=196702.1ms
-  sensor_polling: mean=497.2ms, total=149.17s, count=300, min=443.6ms, max=662.2ms
-  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8931.8ms, max=8931.8ms
-  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.8ms, max=73.6ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4814.2ms, max=4814.2ms
-  task_sampling: mean=429.2ms, total=858.5ms, count=2, min=377.9ms, max=480.5ms
-  task_specific_sample: mean=425.2ms, total=850.5ms, count=2, min=374.9ms, max=475.6ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.3ms, max=3.3ms
-  mj_forward_sync: mean=505.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:38:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:38:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:38:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090418m	[env.py: 870]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79927448  0.6537196   0.09041773] yaw=-160.4deg	[env.py: 1019]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04563501  0.85332866  0.09041773] yaw=-142.7deg	[env.py: 1019]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06372889  0.9617134   0.09041773] yaw=-144.2deg	[env.py: 1019]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.1ms, total=240.1ms	[env.py: 1075]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.654, 0.090)	[env.py: 1079]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:38:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:38:49 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:38:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 91.234[deg]	[grasp_sample.py: 539]
-05/11 01:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:38:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:38:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:39:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:39:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:39:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:39:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:39:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:39:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]	[grasp_sample.py: 539]
-05/11 01:39:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:39:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:39:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:39:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:39:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:39:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:39:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:40:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:40:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:40:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:40:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:40:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:40:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:40:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.12s (batch: 4.34s, save: 8.77s)	[pipeline.py: 300]
-05/11 01:40:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:40:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.492[deg]	[grasp_sample.py: 539]
-05/11 01:40:40 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.90s:
-  episode_total: mean=101.41s, total=202.81s, count=2, min=3228.8ms, max=199582.4ms
-  sensor_polling: mean=479.1ms, total=143.73s, count=300, min=449.2ms, max=676.0ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8774.3ms, max=8774.3ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=15.3ms, max=68.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
-  task_sampling: mean=447.6ms, total=895.2ms, count=2, min=436.1ms, max=459.1ms
-  task_specific_sample: mean=444.2ms, total=888.4ms, count=2, min=433.2ms, max=455.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=429.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:40:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:40:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:40:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:40:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:40:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:40:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:40:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046409m	[env.py: 870]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:40:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8388099   0.57420963  0.0464086 ] yaw=-180.7deg	[env.py: 1019]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85545487  0.90323514  0.0464086 ] yaw=-159.0deg	[env.py: 1019]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93814788  0.49113463  0.0464086 ] yaw=-183.3deg	[env.py: 1019]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:40:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms	[env.py: 1075]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.574, 0.046)	[env.py: 1079]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg	[env.py: 1082]
-05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:40:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:40:42 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:40:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:40:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:40:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:40:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:40:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:40:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 87.086[deg]	[grasp_sample.py: 539]
-05/11 01:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:40:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:40:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:40:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:40:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:40:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:40:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:40:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:40:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:40:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.273[deg]	[grasp_sample.py: 539]
-05/11 01:41:00 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:41:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:41:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:41:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:41:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028423m	[env.py: 870]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99974987  0.17722536  0.02842251] yaw=146.2deg	[env.py: 1019]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95510403  1.12082297  0.02842251] yaw=-133.8deg	[env.py: 1019]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8810174   0.25697078  0.02842251] yaw=174.3deg	[env.py: 1019]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:41:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.9ms	[env.py: 1075]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.177, 0.028)	[env.py: 1079]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg	[env.py: 1082]
-05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:41:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:41:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:41:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:41:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:41:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:41:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:41:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:41:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.088[deg]	[grasp_sample.py: 539]
-05/11 01:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:41:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:41:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:41:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:22 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:41:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:41:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:41:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:41:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:41:35 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.990s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:41:35 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.279[deg]	[grasp_sample.py: 539]
-05/11 01:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:41:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:41:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:43 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:41:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:41:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:41:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:41:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:41:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:41:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:41:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:41:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.93s (batch: 4.66s, save: 8.27s)	[pipeline.py: 300]
-05/11 01:41:57 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=188.36s, total=188.36s, count=1, min=188357.4ms, max=188357.4ms
-  sensor_polling: mean=473.7ms, total=142.12s, count=300, min=445.5ms, max=704.6ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8267.1ms, max=8267.1ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=16.7ms, max=39.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.5ms, max=4662.5ms
-  task_sampling: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms
-  task_specific_sample: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:41:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:41:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:41:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:41:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:41:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005203m	[env.py: 870]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63217493  0.67687139  0.00520305] yaw=-170.8deg	[env.py: 1019]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81791308  0.74587446  0.00520305] yaw=-171.0deg	[env.py: 1019]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77892566 -0.01597032  0.00520305] yaw=155.0deg	[env.py: 1019]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms	[env.py: 1075]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.677, 0.005)	[env.py: 1079]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg	[env.py: 1082]
-05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:41:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:41:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:41:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:41:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:41:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:41:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:42:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:42:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 76.441[deg]	[grasp_sample.py: 539]
-05/11 01:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:42:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:42:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:42:05 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:42:26 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:42:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:42:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:42:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.32s (batch: 5.33s, save: 8.98s)	[pipeline.py: 300]
-05/11 01:42:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
-  episode_total: mean=237.33s, total=237.33s, count=1, min=237329.7ms, max=237329.7ms
-  sensor_polling: mean=485.7ms, total=145.70s, count=300, min=459.6ms, max=677.9ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.1ms, max=8982.1ms
-  physics_step: mean=23.2ms, total=6.96s, count=300, min=14.7ms, max=61.7ms
-  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5333.9ms, max=5333.9ms
-  task_sampling: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
-  task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:42:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:42:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:42:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010254m	[env.py: 870]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97492154  0.11714843  0.01025359] yaw=149.1deg	[env.py: 1019]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87571417  0.68354527  0.01025359] yaw=-160.4deg	[env.py: 1019]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00880394  0.10528263  0.01025359] yaw=159.8deg	[env.py: 1019]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.9ms, total=310.9ms	[env.py: 1075]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.117, 0.010)	[env.py: 1079]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg	[env.py: 1082]
-05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:42:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:42:44 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:42:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:42:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:42:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:42:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.357[m] 88.532[deg]	[grasp_sample.py: 539]
-05/11 01:42:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:42:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:42:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:42:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:42:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:42:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:42:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:42:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.226[deg]	[grasp_sample.py: 539]
-05/11 01:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:42:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:42:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:43:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:43:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:22 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:43:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:43:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:43:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:43:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:43:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:43:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.813[deg]	[grasp_sample.py: 539]
-05/11 01:43:44 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:43:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:43:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:43:45 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/11 01:43:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:43:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:43:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:43:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:43:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:43:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:43:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095192m	[env.py: 870]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:43:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97544055  0.20613593  0.09519221] yaw=148.6deg	[env.py: 1019]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83518246  0.45962411  0.09519221] yaw=177.8deg	[env.py: 1019]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84207683  0.09891738  0.09519221] yaw=157.7deg	[env.py: 1019]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms	[env.py: 1075]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.206, 0.095)	[env.py: 1079]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg	[env.py: 1082]
-05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:43:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:43:46 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:43:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:43:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:43:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:43:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.392[m] 105.634[deg]	[grasp_sample.py: 539]
-05/11 01:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:43:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:43:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:43:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.36s (batch: 4.56s, save: 8.80s)	[pipeline.py: 300]
-05/11 01:43:59 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s:
-  episode_total: mean=196.93s, total=196.93s, count=1, min=196932.8ms, max=196932.8ms
-  sensor_polling: mean=492.3ms, total=147.20s, count=299, min=449.7ms, max=727.0ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8803.3ms, max=8803.3ms
-  physics_step: mean=24.8ms, total=7.42s, count=299, min=15.7ms, max=39.3ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4558.8ms, max=4558.8ms
-  task_sampling: mean=542.2ms, total=542.2ms, count=1, min=542.2ms, max=542.2ms
-  task_specific_sample: mean=538.3ms, total=538.3ms, count=1, min=538.3ms, max=538.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:44:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:44:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:44:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:44:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007125m	[env.py: 870]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0202967   0.92570172  0.00712482] yaw=-149.0deg	[env.py: 1019]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9016868   0.26392259  0.00712482] yaw=169.2deg	[env.py: 1019]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89914471  0.05612978  0.00712482] yaw=162.7deg	[env.py: 1019]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:44:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms	[env.py: 1075]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.926, 0.007)	[env.py: 1079]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:44:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:44:01 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:44:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:44:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:44:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:44:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:44:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:44:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 96.168[deg]	[grasp_sample.py: 539]
-05/11 01:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:44:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:44:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:44:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:44:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:44:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:44:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:44:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:44:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:44:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:44:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:44:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.730[deg]	[grasp_sample.py: 539]
-05/11 01:44:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:44:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:44:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:44:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:44:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:44:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:44:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:45:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:45:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.34s (batch: 4.78s, save: 8.56s)	[pipeline.py: 300]
-05/11 01:45:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:45:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
-  episode_total: mean=191.48s, total=191.48s, count=1, min=191477.9ms, max=191477.9ms
-  sensor_polling: mean=481.3ms, total=144.40s, count=300, min=453.9ms, max=692.7ms
-  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8564.0ms, max=8564.0ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.9ms, max=32.1ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4776.5ms, max=4776.5ms
-  task_sampling: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
-  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=439.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:45:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:45:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:45:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:45:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:45:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:45:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:45:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099007m	[env.py: 870]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:45:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79961582  0.50625642  0.0990071 ] yaw=-168.9deg	[env.py: 1019]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70938538  0.75528475  0.0990071 ] yaw=-175.9deg	[env.py: 1019]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98688352  0.9852422   0.0990071 ] yaw=-147.3deg	[env.py: 1019]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.506, 0.099)	[env.py: 1079]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
-05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:45:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:45:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:45:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:45:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:45:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:45:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:45:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 92.513[deg]	[grasp_sample.py: 539]
-05/11 01:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:45:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:45:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:45:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:45:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:45:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:45:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg]	[grasp_sample.py: 539]
-05/11 01:45:27 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:45:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:45:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:45:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:45:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019247m	[env.py: 870]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1748546   1.10011804  0.01924706] yaw=-123.4deg	[env.py: 1019]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85939754  0.55980857  0.01924706] yaw=-179.5deg	[env.py: 1019]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62713656  0.49240393  0.01924706] yaw=-177.4deg	[env.py: 1019]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms	[env.py: 1075]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.100, 0.019)	[env.py: 1079]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg	[env.py: 1082]
-05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:45:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:45:29 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:45:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 85.887[deg]	[grasp_sample.py: 539]
-05/11 01:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:45:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:45:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.942[deg]	[grasp_sample.py: 539]
-05/11 01:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:45:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:45:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:45:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:45:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:46:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:46:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:46:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:46:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:46:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:46:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:46:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:46:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:46:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:46:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:46:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:46:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.31s (batch: 4.45s, save: 8.86s)	[pipeline.py: 300]
-05/11 01:46:31 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.59s:
-  episode_total: mean=227.52s, total=227.52s, count=1, min=227520.4ms, max=227520.4ms
-  sensor_polling: mean=502.1ms, total=150.64s, count=300, min=463.4ms, max=724.8ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8859.8ms, max=8859.8ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=15.1ms, max=64.3ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.3ms, max=4452.3ms
-  task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
-  task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:46:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:46:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:46:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:46:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:46:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:46:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:46:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087411m	[env.py: 870]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:46:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0889816   1.13404858  0.08741101] yaw=-134.5deg	[env.py: 1019]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77037237  0.49990515  0.08741101] yaw=-187.3deg	[env.py: 1019]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72796429  0.44351872  0.08741101] yaw=177.1deg	[env.py: 1019]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:46:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.5ms, total=105.6ms	[env.py: 1075]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.134, 0.087)	[env.py: 1079]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
-05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:46:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:46:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:46:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:46:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:46:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:46:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:46:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.598s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:46:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 87.636[deg]	[grasp_sample.py: 539]
-05/11 01:46:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:46:36 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:46:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:46:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:46:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:46:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:46:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:46:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:46:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081088m	[env.py: 870]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:46:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90936579  0.31391192  0.08108846] yaw=177.3deg	[env.py: 1019]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94715813  1.00139768  0.08108846] yaw=-145.1deg	[env.py: 1019]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78068422  0.14210473  0.08108846] yaw=167.6deg	[env.py: 1019]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:46:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms	[env.py: 1075]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.314, 0.081)	[env.py: 1079]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg	[env.py: 1082]
-05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:46:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:46:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:46:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:46:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:46:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:46:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:46:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:46:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 88.450[deg]	[grasp_sample.py: 539]
-05/11 01:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:46:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:46:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:46:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:46:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:46:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:47:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:47:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:47:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.53s (batch: 4.59s, save: 10.95s)	[pipeline.py: 300]
-05/11 01:47:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=192.32s, total=192.32s, count=1, min=192316.3ms, max=192316.3ms
-  sensor_polling: mean=483.1ms, total=144.94s, count=300, min=447.7ms, max=736.6ms
-  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10945.9ms, max=10945.9ms
-  physics_step: mean=22.7ms, total=6.81s, count=300, min=16.7ms, max=33.5ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms
-  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  mj_forward_sync: mean=501.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=35.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:47:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:47:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:47:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016013m	[env.py: 870]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7508625   0.28743108  0.01601278] yaw=170.1deg	[env.py: 1019]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88813852  0.65228248  0.01601278] yaw=-169.2deg	[env.py: 1019]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.926092    0.1978525   0.01601278] yaw=169.3deg	[env.py: 1019]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.287, 0.016)	[env.py: 1079]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
-05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:47:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:47:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:47:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.524[m] 89.404[deg]	[grasp_sample.py: 539]
-05/11 01:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:47:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:47:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:47:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:47:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.615s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:47:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.111[deg]	[grasp_sample.py: 539]
-05/11 01:47:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:47:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:47:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:47:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:47:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:47:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:47:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:47:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:47:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:47:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.445[deg]	[grasp_sample.py: 539]
-05/11 01:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:47:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:47:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:47:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:47:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:47:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053068m	[env.py: 870]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86918567  0.14626203  0.05306787] yaw=154.4deg	[env.py: 1019]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65037721  0.30026888  0.05306787] yaw=173.7deg	[env.py: 1019]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms	[env.py: 1075]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.146, 0.053)	[env.py: 1079]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
-05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:47:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:47:57 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:47:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:47:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:47:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 102.421[deg]	[grasp_sample.py: 539]
-05/11 01:47:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:47:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:47:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:48:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:48:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:48:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 01:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:48:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:48:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.026[deg]	[grasp_sample.py: 539]
-05/11 01:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:48:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:48:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:48:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.353s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:48:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]	[grasp_sample.py: 539]
-05/11 01:48:34 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:48:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:48:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:48:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041107m	[env.py: 870]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7540735   0.86778566  0.04110691] yaw=-167.5deg	[env.py: 1019]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6618206   0.76808687  0.04110691] yaw=-164.6deg	[env.py: 1019]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.7ms, total=343.7ms	[env.py: 1075]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.868, 0.041)	[env.py: 1079]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:48:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:48:36 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:48:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:48:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.709s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:48:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 81.961[deg]	[grasp_sample.py: 539]
-05/11 01:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:48:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:48:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:48:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:48:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:48:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:48:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:49:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:49:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:49:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.85s (batch: 5.13s, save: 8.72s)	[pipeline.py: 300]
-05/11 01:49:03 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
-  episode_total: mean=231.47s, total=231.47s, count=1, min=231471.6ms, max=231471.6ms
-  sensor_polling: mean=507.1ms, total=152.14s, count=300, min=445.5ms, max=900.9ms
-  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.6ms, max=8717.6ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=13.7ms, max=64.8ms
-  save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5129.8ms, max=5129.8ms
-  task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms
-  task_specific_sample: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:49:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:49:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065834m	[env.py: 870]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98127483  1.27125665  0.06583383] yaw=-135.0deg	[env.py: 1019]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69601389  0.32374337  0.06583383] yaw=169.7deg	[env.py: 1019]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.271, 0.066)	[env.py: 1079]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
-05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:49:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:49:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:49:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:49:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:49:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:49:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 01:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 01:49:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:49:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:49:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:49:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:49:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:49:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:49:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m	[env.py: 870]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:49:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.20458160e-01  9.41368600e-01  4.73418963e-04] yaw=-150.2deg	[env.py: 1019]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.46385339e-01  7.84785046e-01  4.73418963e-04] yaw=-167.9deg	[env.py: 1019]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.23934522e-01  1.75363987e-01  4.73418963e-04] yaw=157.1deg	[env.py: 1019]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:49:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.0ms, total=297.0ms	[env.py: 1075]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.941, 0.000)	[env.py: 1079]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
-05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:49:10 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:49:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:49:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:49:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:49:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:49:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:49:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:49:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.671[m] 84.034[deg]	[grasp_sample.py: 539]
-05/11 01:49:14 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:49:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:49:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066478m	[env.py: 870]
-05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08243711  1.20809215  0.06647776] yaw=-134.1deg	[env.py: 1019]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87923246  0.62176336  0.06647776] yaw=-174.1deg	[env.py: 1019]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80276464  1.06920668  0.06647776] yaw=-147.7deg	[env.py: 1019]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=630.3ms, total=630.4ms	[env.py: 1075]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.208, 0.066)	[env.py: 1079]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg	[env.py: 1082]
-05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:49:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:49:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:49:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:49:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.063s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:49:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 93.039[deg]	[grasp_sample.py: 539]
-05/11 01:49:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:49:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:49:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:49:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:49:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:49:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:16 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:50:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:50:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:50:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:50:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:50:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:50:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.221[deg]	[grasp_sample.py: 539]
-05/11 01:50:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:50:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:50:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:50:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:50:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:50:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:50:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:50:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:50:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.222[deg]	[grasp_sample.py: 539]
-05/11 01:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:50:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:50:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:50:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:50:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:50:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:50:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.66s (batch: 4.28s, save: 10.38s)	[pipeline.py: 300]
-05/11 01:50:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
-  episode_total: mean=220.66s, total=220.66s, count=1, min=220657.7ms, max=220657.7ms
-  sensor_polling: mean=529.9ms, total=158.96s, count=300, min=435.5ms, max=946.3ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10377.3ms, max=10377.3ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=18.3ms, max=97.7ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.1ms, max=4278.1ms
-  task_sampling: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms
-  task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=612.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:50:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:50:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:50:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:50:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:50:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:50:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077561m	[env.py: 870]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:50:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69320892  0.81309939  0.07756099] yaw=-152.9deg	[env.py: 1019]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99189788  0.21727546  0.07756099] yaw=160.5deg	[env.py: 1019]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7083104   0.47951049  0.07756099] yaw=181.5deg	[env.py: 1019]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=505.3ms, total=505.3ms	[env.py: 1075]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.813, 0.078)	[env.py: 1079]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
-05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:50:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:50:58 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:50:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:51:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.045s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:51:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 80.130[deg]	[grasp_sample.py: 539]
-05/11 01:51:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:51:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:51:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:51:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:51:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:51:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:51:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:51:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:51:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:51:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:51:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:51:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:51:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:51:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:51:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:51:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.328[deg]	[grasp_sample.py: 539]
-05/11 01:51:40 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:51:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:51:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:51:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:51:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:51:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:51:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:51:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082121m	[env.py: 870]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:51:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04203105  1.01662989  0.08212055] yaw=-142.0deg	[env.py: 1019]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20385246  1.04899111  0.08212055] yaw=-138.6deg	[env.py: 1019]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.2ms	[env.py: 1075]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.017, 0.082)	[env.py: 1079]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg	[env.py: 1082]
-05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:51:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:51:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:51:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:51:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 83.126[deg]	[grasp_sample.py: 539]
-05/11 01:51:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:51:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:51:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:51:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:51:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:51:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:51:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:51:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:51:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.28s, save: 8.13s)	[pipeline.py: 300]
-05/11 01:51:48 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.31s:
-  episode_total: mean=156.90s, total=784.52s, count=5, min=100760.1ms, max=230806.7ms
-  sensor_polling: mean=493.6ms, total=598.29s, count=1212, min=429.7ms, max=1049.2ms
-  physics_step: mean=23.7ms, total=28.76s, count=1212, min=14.2ms, max=85.4ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.3ms, max=4283.3ms
-  task_sampling: mean=462.7ms, total=2.31s, count=5, min=410.6ms, max=509.2ms
-  task_specific_sample: mean=458.8ms, total=2.29s, count=5, min=406.3ms, max=505.5ms
-  scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=485.5us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:51:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:51:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:51:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:51:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:51:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:51:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:51:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032304m	[env.py: 870]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:51:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96908749  0.80568417  0.03230376] yaw=-156.5deg	[env.py: 1019]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713437  0.2353576   0.03230376] yaw=152.2deg	[env.py: 1019]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9496352   0.90947818  0.03230376] yaw=-143.3deg	[env.py: 1019]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:51:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms	[env.py: 1075]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.806, 0.032)	[env.py: 1079]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:51:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:51:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:51:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:51:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:51:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:51:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:51:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:51:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 90.348[deg]	[grasp_sample.py: 539]
-05/11 01:51:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:51:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:51:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:51:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:51:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:51:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.06s, save: 8.46s)	[pipeline.py: 300]
-05/11 01:51:58 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=107.52s, total=322.55s, count=3, min=3195.6ms, max=202707.3ms
-  sensor_polling: mean=513.3ms, total=246.36s, count=480, min=434.0ms, max=942.3ms
-  physics_step: mean=25.9ms, total=12.44s, count=480, min=15.3ms, max=92.6ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.5ms, max=4058.5ms
-  task_sampling: mean=515.3ms, total=1.55s, count=3, min=404.8ms, max=683.9ms
-  task_specific_sample: mean=511.8ms, total=1.54s, count=3, min=400.6ms, max=680.6ms
-  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=488.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:52:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:52:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:52:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:52:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:52:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:52:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:52:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026012m	[env.py: 870]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:52:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:52:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83272999  0.14457834  0.02601164] yaw=170.0deg	[env.py: 1019]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92951344  0.41597284  0.02601164] yaw=181.2deg	[env.py: 1019]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00220265  0.78996325  0.02601164] yaw=-152.5deg	[env.py: 1019]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=440.8ms, total=440.8ms	[env.py: 1075]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.145, 0.026)	[env.py: 1079]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:52:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:52:01 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:52:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:52:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:52:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:52:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:52:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 87.087[deg]	[grasp_sample.py: 539]
-05/11 01:52:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:52:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:52:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:52:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:52:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:52:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:52:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:53:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:53:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:53:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:53:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:53:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:53:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:53:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:53:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.66s (batch: 4.02s, save: 8.64s)	[pipeline.py: 300]
-05/11 01:54:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.82s:
-  episode_total: mean=182.53s, total=182.53s, count=1, min=182531.1ms, max=182531.1ms
-  sensor_polling: mean=449.8ms, total=134.93s, count=300, min=374.1ms, max=726.3ms
-  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8644.7ms, max=8644.7ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.7ms, max=50.6ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.3ms, max=4018.3ms
-  task_sampling: mean=824.0ms, total=824.0ms, count=1, min=824.0ms, max=824.0ms
-  task_specific_sample: mean=815.1ms, total=815.1ms, count=1, min=815.1ms, max=815.1ms
-  scene_randomize: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms
-  mj_forward_sync: mean=636.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=33.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:54:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:54:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058022m	[env.py: 870]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80857765  0.89300258  0.05802197] yaw=-159.9deg	[env.py: 1019]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66461089  0.47854952  0.05802197] yaw=187.6deg	[env.py: 1019]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20675719  1.10200052  0.05802197] yaw=-129.6deg	[env.py: 1019]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.893, 0.058)	[env.py: 1079]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:54:03 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:08 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.555[m] 74.349[deg]	[grasp_sample.py: 539]
-05/11 01:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:10 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:54:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:54:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:54:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:54:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:54:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007955m	[env.py: 870]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:54:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93855901  0.9035202   0.00795479] yaw=-148.1deg	[env.py: 1019]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7447752   0.67854128  0.00795479] yaw=-167.6deg	[env.py: 1019]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64676416  0.32068643  0.00795479] yaw=166.6deg	[env.py: 1019]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:54:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms	[env.py: 1075]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.904, 0.008)	[env.py: 1079]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
-05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:54:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:54:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 96.112[deg]	[grasp_sample.py: 539]
-05/11 01:54:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:54:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:54:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:54:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]	[grasp_sample.py: 539]
-05/11 01:54:15 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:54:15 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:54:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:54:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:54:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:54:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:54:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:54:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068764m	[env.py: 870]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:54:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67195298  0.14584597  0.06876416] yaw=154.0deg	[env.py: 1019]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65602324  0.22489266  0.06876416] yaw=176.2deg	[env.py: 1019]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74381224 -0.01363215  0.06876416] yaw=141.8deg	[env.py: 1019]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms	[env.py: 1075]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.146, 0.069)	[env.py: 1079]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg	[env.py: 1082]
-05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:54:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.635[m] 85.157[deg]	[grasp_sample.py: 539]
-05/11 01:54:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:54:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:54:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:54:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:54:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.719[deg]	[grasp_sample.py: 539]
-05/11 01:54:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:54:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:54:36 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/11 01:54:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:54:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:54:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:54:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:54:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.17s (batch: 4.44s, save: 9.72s)	[pipeline.py: 300]
-05/11 01:54:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s:
-  episode_total: mean=181.95s, total=181.95s, count=1, min=181945.6ms, max=181945.6ms
-  sensor_polling: mean=452.5ms, total=135.29s, count=299, min=387.4ms, max=661.8ms
-  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.3ms, max=9723.3ms
-  physics_step: mean=21.0ms, total=6.27s, count=299, min=13.6ms, max=48.4ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.8ms, max=4441.8ms
-  task_sampling: mean=344.1ms, total=344.1ms, count=1, min=344.1ms, max=344.1ms
-  task_specific_sample: mean=340.6ms, total=340.6ms, count=1, min=340.6ms, max=340.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:54:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:54:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:54:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:54:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:54:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:54:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095887m	[env.py: 870]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:54:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68537288  0.86644215  0.09588694] yaw=-148.2deg	[env.py: 1019]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78697182  1.00826177  0.09588694] yaw=-149.3deg	[env.py: 1019]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75505762 -0.03542559  0.09588694] yaw=149.4deg	[env.py: 1019]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:54:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.4ms	[env.py: 1075]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.866, 0.096)	[env.py: 1079]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
-05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:54:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:54:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:54:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:54:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:54:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.720[m] 92.576[deg]	[grasp_sample.py: 539]
-05/11 01:54:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:54:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:54:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:54:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:55:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:55:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:55:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:55:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:55:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:55:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:55:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:55:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.09s (batch: 5.04s, save: 10.05s)	[pipeline.py: 300]
-05/11 01:55:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.82s:
-  episode_total: mean=204.45s, total=204.45s, count=1, min=204447.1ms, max=204447.1ms
-  sensor_polling: mean=460.3ms, total=138.08s, count=300, min=390.0ms, max=774.5ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.0ms, max=10047.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.7ms, max=74.2ms
-  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5044.3ms, max=5044.3ms
-  task_sampling: mean=824.6ms, total=824.6ms, count=1, min=824.6ms, max=824.6ms
-  task_specific_sample: mean=820.4ms, total=820.4ms, count=1, min=820.4ms, max=820.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=549.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:55:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:55:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:55:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045787m	[env.py: 870]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85177344  0.80161985  0.04578702] yaw=-148.3deg	[env.py: 1019]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82275171  0.34723991  0.04578702] yaw=176.9deg	[env.py: 1019]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.7ms	[env.py: 1075]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.802, 0.046)	[env.py: 1079]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg	[env.py: 1082]
-05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:55:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:55:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:55:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:55:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:55:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:55:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:55:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:55:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 91.899[deg]	[grasp_sample.py: 539]
-05/11 01:55:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:55:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:55:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:55:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:55:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:56:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:56:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:56:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:56:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:56:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:56:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:56:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:56:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:56:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 01:56:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:57:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:57:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:57:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.01s (batch: 3.78s, save: 8.23s)	[pipeline.py: 300]
-05/11 01:57:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.87s:
-  episode_total: mean=92.60s, total=185.19s, count=2, min=8247.1ms, max=176947.7ms
-  sensor_polling: mean=442.9ms, total=132.88s, count=300, min=380.0ms, max=720.8ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.6ms, max=8229.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=14.3ms, max=52.0ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.8ms, max=3784.8ms
-  task_sampling: mean=435.2ms, total=870.4ms, count=2, min=399.7ms, max=470.6ms
-  task_specific_sample: mean=431.5ms, total=863.0ms, count=2, min=396.6ms, max=466.5ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:57:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:57:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 01:57:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:57:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085128m	[env.py: 870]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78993468  1.03177546  0.08512784] yaw=-137.9deg	[env.py: 1019]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86007157  0.9490361   0.08512784] yaw=-151.4deg	[env.py: 1019]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9399273   0.84934148  0.08512784] yaw=-145.6deg	[env.py: 1019]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms	[env.py: 1075]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 1.032, 0.085)	[env.py: 1079]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
-05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:57:11 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:57:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.408s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:57:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.668[m] 89.271[deg]	[grasp_sample.py: 539]
-05/11 01:57:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:57:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:57:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:57:18 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:57:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:57:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:57:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.08s (batch: 5.43s, save: 8.65s)	[pipeline.py: 300]
-05/11 01:57:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.88s:
-  episode_total: mean=98.61s, total=493.03s, count=5, min=2253.4ms, max=187870.5ms
-  sensor_polling: mean=455.6ms, total=377.67s, count=829, min=382.7ms, max=917.1ms
-  physics_step: mean=21.6ms, total=17.95s, count=829, min=14.3ms, max=75.0ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8650.1ms, max=8650.1ms
-  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.7ms, max=5425.7ms
-  task_sampling: mean=576.2ms, total=2.88s, count=5, min=419.2ms, max=940.7ms
-  task_specific_sample: mean=572.8ms, total=2.86s, count=5, min=415.6ms, max=937.7ms
-  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=485.3us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:57:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:57:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:57:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018193m	[env.py: 870]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00445114  0.18134752  0.01819271] yaw=149.8deg	[env.py: 1019]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9775352   0.8569201   0.01819271] yaw=-163.2deg	[env.py: 1019]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90034711  0.55013614  0.01819271] yaw=-177.5deg	[env.py: 1019]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:57:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.181, 0.018)	[env.py: 1079]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
-05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:57:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:57:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:57:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:57:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:57:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:57:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:57:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.330[m] 88.079[deg]	[grasp_sample.py: 539]
-05/11 01:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:57:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:57:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:57:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:57:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 01:57:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:57:51 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 01:57:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:57:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:57:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.58s (batch: 3.62s, save: 9.95s)	[pipeline.py: 300]
-05/11 01:57:52 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
-  episode_total: mean=178.96s, total=178.96s, count=1, min=178958.0ms, max=178958.0ms
-  sensor_polling: mean=443.3ms, total=132.99s, count=300, min=379.3ms, max=870.5ms
-  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9951.2ms, max=9951.2ms
-  physics_step: mean=20.4ms, total=6.11s, count=300, min=13.7ms, max=56.4ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
-  task_sampling: mean=392.7ms, total=392.7ms, count=1, min=392.7ms, max=392.7ms
-  task_specific_sample: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=571.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:57:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:57:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071542m	[env.py: 870]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.4ms	[env.py: 1105]
-05/11 01:57:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/11 01:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/11 01:57:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:57:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:57:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:57:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:57:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:57:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094285m	[env.py: 870]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:57:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96119309  0.7485277   0.09428501] yaw=-158.1deg	[env.py: 1019]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=159.0ms	[env.py: 1075]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.749, 0.094)	[env.py: 1079]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
-05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:57:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:57:56 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:57:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.653s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:57:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 94.829[deg]	[grasp_sample.py: 539]
-05/11 01:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:57:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:57:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 01:58:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 01:58:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 01:58:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 01:58:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 01:58:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.07s (batch: 4.03s, save: 11.04s)	[pipeline.py: 300]
-05/11 01:58:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.47s, total=183.47s, count=1, min=183465.1ms, max=183465.1ms
-  sensor_polling: mean=449.5ms, total=134.84s, count=300, min=382.1ms, max=786.9ms
-  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11037.8ms, max=11037.8ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=13.4ms, max=48.5ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
-  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
-  task_specific_sample: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=540.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:58:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:58:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:58:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:58:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:58:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:58:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:58:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029288m	[env.py: 870]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:58:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94924802  0.76423917  0.02928831] yaw=-150.4deg	[env.py: 1019]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66734474  0.47914572  0.02928831] yaw=169.0deg	[env.py: 1019]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:58:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.6ms	[env.py: 1075]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.764, 0.029)	[env.py: 1079]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg	[env.py: 1082]
-05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:58:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:58:32 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:58:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:58:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:58:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:58:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:58:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:58:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 93.144[deg]	[grasp_sample.py: 539]
-05/11 01:58:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:58:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:58:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:58:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:58:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:58:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:59:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:59:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:59:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.372s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:59:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.160[deg]	[grasp_sample.py: 539]
-05/11 01:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:59:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:59:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 01:59:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:59:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:59:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.593[deg]	[grasp_sample.py: 539]
-05/11 01:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:59:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:59:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 01:59:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:43 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 01:59:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.46s:
-  episode_total: mean=152.41s, total=152.41s, count=1, min=152414.3ms, max=152414.3ms
-  sensor_polling: mean=452.0ms, total=135.60s, count=300, min=384.2ms, max=790.6ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=86.6ms
-  task_sampling: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms
-  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 01:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:59:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:59:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:59:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061103m	[env.py: 870]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77784123  0.62319549  0.06110304] yaw=-169.7deg	[env.py: 1019]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms	[env.py: 1075]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.623, 0.061)	[env.py: 1079]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg	[env.py: 1082]
-05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:59:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:59:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:59:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:59:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:59:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:59:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:59:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 91.981[deg]	[grasp_sample.py: 539]
-05/11 01:59:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:59:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:59:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 01:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 01:59:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 01:59:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 01:59:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:59:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:59:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:59:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:59:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.928[deg]	[grasp_sample.py: 539]
-05/11 01:59:53 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 01:59:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 01:59:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 01:59:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:59:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 01:59:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 01:59:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 01:59:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082688m	[env.py: 870]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 01:59:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94024171  0.96617682  0.0826884 ] yaw=-147.1deg	[env.py: 1019]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97057085  0.67192628  0.0826884 ] yaw=-172.6deg	[env.py: 1019]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88578268  0.49128565  0.0826884 ] yaw=-177.2deg	[env.py: 1019]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 01:59:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.2ms	[env.py: 1075]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.966, 0.083)	[env.py: 1079]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
-05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 01:59:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 01:59:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 01:59:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/11 01:59:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 01:59:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 01:59:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 01:59:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 01:59:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 79.377[deg]	[grasp_sample.py: 539]
-05/11 01:59:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 01:59:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 01:59:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:00:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:00:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:00:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:00:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:00:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:00:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:00:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:00:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:00:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:00:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:00:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:00:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:00:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.36s (batch: 3.52s, save: 7.83s)	[pipeline.py: 300]
-05/11 02:01:00 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
-  episode_total: mean=92.34s, total=184.68s, count=2, min=216.0ms, max=184463.6ms
-  sensor_polling: mean=458.0ms, total=137.39s, count=300, min=403.5ms, max=922.0ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7834.2ms, max=7834.2ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.7ms, max=70.3ms
-  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3522.4ms, max=3522.4ms
-  task_specific_sample: mean=313.9ms, total=627.9ms, count=2, min=209.2ms, max=418.6ms
-  task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
-  task_sampling_failed: mean=216.0ms, total=216.0ms, count=1, min=216.0ms, max=216.0ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=529.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:01:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:01:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:01:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000024m	[env.py: 870]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-7.79555963e-01  2.12117913e-01  2.41189598e-05] yaw=171.3deg	[env.py: 1019]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.67882690e-01  7.57167543e-01  2.41189598e-05] yaw=-160.8deg	[env.py: 1019]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.74121758e-01  4.09235639e-01  2.41189598e-05] yaw=176.6deg	[env.py: 1019]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.7ms	[env.py: 1075]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.212, 0.000)	[env.py: 1079]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
-05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:01:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:01:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:01:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:01:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:01:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:01:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 100.009[deg]	[grasp_sample.py: 539]
-05/11 02:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:01:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:01:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:01:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:01:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:01:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:01:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:01:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:01:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.03s, save: 8.38s)	[pipeline.py: 300]
-05/11 02:01:35 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
-  episode_total: mean=184.32s, total=184.32s, count=1, min=184324.6ms, max=184324.6ms
-  sensor_polling: mean=452.3ms, total=135.69s, count=300, min=397.5ms, max=712.3ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8381.6ms, max=8381.6ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.6ms, max=60.6ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.2ms, max=4034.2ms
-  task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms
-  task_specific_sample: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:01:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:01:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:01:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:01:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:01:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:01:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:01:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033207m	[env.py: 870]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:01:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02187623  1.09867045  0.03320744] yaw=-129.9deg	[env.py: 1019]
-05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92467512  0.36032287  0.03320744] yaw=173.5deg	[env.py: 1019]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80259357  0.56671283  0.03320744] yaw=-165.6deg	[env.py: 1019]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=535.9ms, total=535.9ms	[env.py: 1075]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.099, 0.033)	[env.py: 1079]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg	[env.py: 1082]
-05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
-05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:01:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:01:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:01:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:01:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:01:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:01:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:01:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.346s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:01:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 93.352[deg]	[grasp_sample.py: 539]
-05/11 02:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:01:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:01:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:02:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:02:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:20 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:02:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:02:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:02:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:02:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:02:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:02:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:02:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:02:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:02:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:02:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.70s (batch: 3.85s, save: 7.85s)	[pipeline.py: 300]
-05/11 02:02:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s:
-  episode_total: mean=181.84s, total=181.84s, count=1, min=181841.5ms, max=181841.5ms
-  sensor_polling: mean=450.4ms, total=135.12s, count=300, min=390.1ms, max=700.1ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7846.1ms, max=7846.1ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.2ms, max=92.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms
-  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
-  task_specific_sample: mean=380.3ms, total=380.3ms, count=1, min=380.3ms, max=380.3ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=370.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:02:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:02:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:02:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:02:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:02:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:02:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020453m	[env.py: 870]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:02:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05361528  1.26971665  0.02045298] yaw=-133.4deg	[env.py: 1019]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92658013  0.4570848   0.02045298] yaw=182.2deg	[env.py: 1019]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71873608  0.6239602   0.02045298] yaw=-178.2deg	[env.py: 1019]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:02:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.5ms, total=300.5ms	[env.py: 1075]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.270, 0.020)	[env.py: 1079]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
-05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:02:49 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:02:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:02:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:02:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:02:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:02:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 98.404[deg]	[grasp_sample.py: 539]
-05/11 02:02:51 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:02:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:02:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:02:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.79s (batch: 3.91s, save: 7.88s)	[pipeline.py: 300]
-05/11 02:02:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.80s:
-  episode_total: mean=162.09s, total=324.17s, count=2, min=146501.3ms, max=177670.4ms
-  sensor_polling: mean=455.4ms, total=242.30s, count=532, min=383.3ms, max=826.7ms
-  physics_step: mean=21.0ms, total=11.16s, count=532, min=13.3ms, max=78.4ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.9ms, max=7875.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.2ms, max=3911.2ms
-  task_sampling: mean=398.2ms, total=796.4ms, count=2, min=385.3ms, max=411.1ms
-  task_specific_sample: mean=394.8ms, total=789.5ms, count=2, min=381.4ms, max=408.2ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=435.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:02:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:02:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:02:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079521m	[env.py: 870]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06848935  1.06368493  0.07952051] yaw=-142.6deg	[env.py: 1019]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78536504  0.11593287  0.07952051] yaw=152.4deg	[env.py: 1019]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0410142   1.05791932  0.07952051] yaw=-139.3deg	[env.py: 1019]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms	[env.py: 1075]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.064, 0.080)	[env.py: 1079]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:02:53 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:02:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:02:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:02:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:02:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:02:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 86.251[deg]	[grasp_sample.py: 539]
-05/11 02:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:02:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:02:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:02:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:02:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019786m	[env.py: 870]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91040554  0.97664215  0.01978585] yaw=-151.5deg	[env.py: 1019]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96920041  1.18382702  0.01978585] yaw=-137.0deg	[env.py: 1019]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:02:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms	[env.py: 1075]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.977, 0.020)	[env.py: 1079]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
-05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:02:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:02:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:02:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:02:54 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:02:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:02:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:02:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:02:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:02:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.320s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:02:57 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.498[m] 88.305[deg]	[grasp_sample.py: 539]
-05/11 02:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:02:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:02:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:03:31 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:03:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:03:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:03:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:03:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:03:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:03:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:03:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:03:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:03:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:04:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:04:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:04:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:04:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.353[deg]	[grasp_sample.py: 539]
-05/11 02:04:07 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:04:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:04:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:04:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.31s (batch: 3.70s, save: 7.61s)	[pipeline.py: 300]
-05/11 02:04:07 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
-  episode_total: mean=185.20s, total=185.20s, count=1, min=185196.0ms, max=185196.0ms
-  sensor_polling: mean=454.4ms, total=136.32s, count=300, min=388.3ms, max=845.9ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.2ms, max=7613.2ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.9ms, max=81.4ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.8ms, max=3695.8ms
-  task_sampling: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
-  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:04:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033110m	[env.py: 870]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78524287  1.00001747  0.03310973] yaw=-152.9deg	[env.py: 1019]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79539714  1.00948413  0.03310973] yaw=-160.6deg	[env.py: 1019]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.5ms	[env.py: 1075]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 1.000, 0.033)	[env.py: 1079]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
-05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:04:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:04:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:04:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:04:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:04:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:04:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:04:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:04:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:04:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086768m	[env.py: 870]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:04:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93860989  0.80077422  0.08676849] yaw=-161.9deg	[env.py: 1019]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.171801    1.03965258  0.08676849] yaw=-128.1deg	[env.py: 1019]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96746457  0.18159077  0.08676849] yaw=147.2deg	[env.py: 1019]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:04:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=144.0ms	[env.py: 1075]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.801, 0.087)	[env.py: 1079]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
-05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:04:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:04:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:04:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:04:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 89.680[deg]	[grasp_sample.py: 539]
-05/11 02:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:04:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:04:10 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.605[m] 84.653[deg]	[grasp_sample.py: 539]
-05/11 02:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:04:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:04:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:04:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:04:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:04:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:05:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:05:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:05:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:05:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:05:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:05:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:05:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:05:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.254[deg]	[grasp_sample.py: 539]
-05/11 02:05:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:05:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:05:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:05:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:05:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:05:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:05:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054386m	[env.py: 870]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88654203  0.84279379  0.05438618] yaw=-161.3deg	[env.py: 1019]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8010138   0.54202448  0.05438618] yaw=-179.7deg	[env.py: 1019]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12588699  1.11045172  0.05438618] yaw=-122.1deg	[env.py: 1019]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms	[env.py: 1075]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.843, 0.054)	[env.py: 1079]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg	[env.py: 1082]
-05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:05:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:05:21 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:05:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:05:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 85.157[deg]	[grasp_sample.py: 539]
-05/11 02:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:05:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:05:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:05:24 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:05:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:05:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:05:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:05:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:05:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:05:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.77s (batch: 3.90s, save: 7.87s)	[pipeline.py: 300]
-05/11 02:05:58 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
-  episode_total: mean=183.69s, total=183.69s, count=1, min=183689.9ms, max=183689.9ms
-  sensor_polling: mean=456.4ms, total=136.93s, count=300, min=386.2ms, max=956.0ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7870.0ms, max=7870.0ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.6ms, max=64.4ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.2ms, max=3896.2ms
-  task_sampling: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
-  task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:05:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:05:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:05:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:05:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:05:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:05:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:05:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026513m	[env.py: 870]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:05:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70421075  0.21497112  0.02651289] yaw=176.3deg	[env.py: 1019]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82844029  0.73346053  0.02651289] yaw=-159.2deg	[env.py: 1019]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8928578   0.36604001  0.02651289] yaw=168.8deg	[env.py: 1019]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.7ms	[env.py: 1075]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.215, 0.027)	[env.py: 1079]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg	[env.py: 1082]
-05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:05:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:05:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:05:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:05:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:05:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:06:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:06:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.562[m] 79.094[deg]	[grasp_sample.py: 539]
-05/11 02:06:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:06:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:06:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:06:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:06:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:06:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:06:36 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:06:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:06:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:06:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:06:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:06:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:06:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:06:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:07:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:07:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:07:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.44s (batch: 4.54s, save: 8.90s)	[pipeline.py: 300]
-05/11 02:07:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.21s:
-  episode_total: mean=165.90s, total=331.79s, count=2, min=149262.5ms, max=182527.7ms
-  sensor_polling: mean=446.4ms, total=259.80s, count=582, min=381.4ms, max=838.9ms
-  physics_step: mean=20.6ms, total=12.00s, count=582, min=16.5ms, max=47.5ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8899.7ms, max=8899.7ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4543.9ms, max=4543.9ms
-  task_sampling: mean=602.7ms, total=1.21s, count=2, min=409.5ms, max=796.0ms
-  task_specific_sample: mean=599.0ms, total=1.20s, count=2, min=406.0ms, max=791.9ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms
-  mj_forward_sync: mean=487.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:07:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:07:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:07:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.25s, save: 8.26s)	[pipeline.py: 300]
-05/11 02:07:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.16s, total=183.16s, count=1, min=183160.7ms, max=183160.7ms
-  sensor_polling: mean=455.7ms, total=136.72s, count=300, min=400.4ms, max=805.3ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.2ms, max=8261.2ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=14.2ms, max=58.2ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.0ms, max=4252.0ms
-  task_sampling: mean=413.3ms, total=413.3ms, count=1, min=413.3ms, max=413.3ms
-  task_specific_sample: mean=409.6ms, total=409.6ms, count=1, min=409.6ms, max=409.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=528.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:07:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:07:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:07:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067662m	[env.py: 870]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70394456  0.42823037  0.06766191] yaw=171.5deg	[env.py: 1019]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms	[env.py: 1075]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.428, 0.068)	[env.py: 1079]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg	[env.py: 1082]
-05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:07:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:07:13 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:07:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:07:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:07:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:07:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:07:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.542[m] 88.124[deg]	[grasp_sample.py: 539]
-05/11 02:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:07:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:07:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:07:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:07:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:07:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:07:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:07:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060473m	[env.py: 870]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:07:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93788413  0.92110969  0.06047299] yaw=-145.9deg	[env.py: 1019]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99726076  0.81941412  0.06047299] yaw=-156.1deg	[env.py: 1019]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65390642  0.33703063  0.06047299] yaw=180.3deg	[env.py: 1019]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:07:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms	[env.py: 1075]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.921, 0.060)	[env.py: 1079]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
-05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:07:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:07:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:07:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:07:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:07:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:07:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:07:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:07:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:07:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:07:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 85.709[deg]	[grasp_sample.py: 539]
-05/11 02:07:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:07:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:07:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:07:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:07:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:08:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:08:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:08:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:08:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:08:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:08:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:08:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:08:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:08:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:08:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:08:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.68s (batch: 5.07s, save: 7.61s)	[pipeline.py: 300]
-05/11 02:08:25 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.19s:
-  episode_total: mean=111.23s, total=333.69s, count=3, min=3036.4ms, max=184222.6ms
-  sensor_polling: mean=453.1ms, total=260.53s, count=575, min=384.1ms, max=834.7ms
-  physics_step: mean=21.5ms, total=12.34s, count=575, min=13.8ms, max=97.6ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.1ms, max=7613.1ms
-  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5066.5ms, max=5066.5ms
-  task_sampling: mean=398.3ms, total=1.19s, count=3, min=307.2ms, max=557.4ms
-  task_specific_sample: mean=395.2ms, total=1.19s, count=3, min=304.6ms, max=553.8ms
-  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=431.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:08:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:08:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:08:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:08:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:08:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:08:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:08:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081657m	[env.py: 870]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:08:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79103009  0.95805076  0.0816567 ] yaw=-142.9deg	[env.py: 1019]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88172365  0.72698023  0.0816567 ] yaw=-170.6deg	[env.py: 1019]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94299116  0.64185457  0.0816567 ] yaw=-159.8deg	[env.py: 1019]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:08:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.1ms, total=93.1ms	[env.py: 1075]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.958, 0.082)	[env.py: 1079]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
-05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
-05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:08:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:08:27 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:08:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:08:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:08:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:08:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:08:28 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:08:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:08:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 91.532[deg]	[grasp_sample.py: 539]
-05/11 02:08:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:08:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:08:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:08:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:08:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:08:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:09:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:09:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:09:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.68s (batch: 3.96s, save: 7.73s)	[pipeline.py: 300]
-05/11 02:09:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s:
-  episode_total: mean=183.89s, total=183.89s, count=1, min=183890.2ms, max=183890.2ms
-  sensor_polling: mean=454.8ms, total=136.43s, count=300, min=383.5ms, max=830.9ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7725.0ms, max=7725.0ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=13.6ms, max=57.4ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.1ms, max=3959.1ms
-  task_sampling: mean=351.3ms, total=351.3ms, count=1, min=351.3ms, max=351.3ms
-  task_specific_sample: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:09:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:09:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:09:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:09:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:09:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:09:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:09:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004930m	[env.py: 870]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:09:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01614377  0.16706538  0.00493024] yaw=150.1deg	[env.py: 1019]
-05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01214421  0.150388    0.00493024] yaw=157.7deg	[env.py: 1019]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83070714  0.88286954  0.00493024] yaw=-152.5deg	[env.py: 1019]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.4ms, total=70.4ms	[env.py: 1075]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.167, 0.005)	[env.py: 1079]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
-05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
-05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:09:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:09:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:09:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:09:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:09:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:09:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:09:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:09:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.367[m] 102.007[deg]	[grasp_sample.py: 539]
-05/11 02:09:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:09:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:09:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:09:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:09:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:09:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:09:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:09:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:09:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:09:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:09:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:10:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:10:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:10:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:10:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:10:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:10:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:10:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:10:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:10:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.48s (batch: 3.91s, save: 11.57s)	[pipeline.py: 300]
-05/11 02:10:16 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
-  episode_total: mean=182.15s, total=182.15s, count=1, min=182152.2ms, max=182152.2ms
-  sensor_polling: mean=453.9ms, total=136.16s, count=300, min=395.6ms, max=746.5ms
-  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.6ms, max=11567.6ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=16.9ms, max=49.5ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.3ms, max=3909.3ms
-  task_sampling: mean=435.4ms, total=435.4ms, count=1, min=435.4ms, max=435.4ms
-  task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=726.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:10:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.40s (batch: 4.68s, save: 10.72s)	[pipeline.py: 300]
-05/11 02:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:10:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:10:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:10:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:10:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:10:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065793m	[env.py: 870]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91874926  0.53316048  0.06579291] yaw=-180.9deg	[env.py: 1019]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:10:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms	[env.py: 1075]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.533, 0.066)	[env.py: 1079]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg	[env.py: 1082]
-05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:10:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:10:18 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:10:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:10:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:10:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:10:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:10:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
-  episode_total: mean=185.56s, total=185.56s, count=1, min=185555.5ms, max=185555.5ms
-  sensor_polling: mean=455.7ms, total=136.70s, count=300, min=397.6ms, max=768.1ms
-  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10721.3ms, max=10721.3ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=63.6ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.4ms, max=4677.4ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=400.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:10:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:10:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 87.138[deg]	[grasp_sample.py: 539]
-05/11 02:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:10:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:10:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:10:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:10:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034627m	[env.py: 870]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68152315  0.4135844   0.03462703] yaw=172.4deg	[env.py: 1019]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75870388  0.94424003  0.03462703] yaw=-160.3deg	[env.py: 1019]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.17155577  1.06393791  0.03462703] yaw=-133.2deg	[env.py: 1019]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.6ms	[env.py: 1075]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.414, 0.035)	[env.py: 1079]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
-05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:10:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:10:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:10:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 87.401[deg]	[grasp_sample.py: 539]
-05/11 02:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:11:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:11:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:11:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:11:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:11:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:11:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.151[deg]	[grasp_sample.py: 539]
-05/11 02:11:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:11:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:11:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:12 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:11:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:11:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:11:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:11:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:11:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:11:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.23s (batch: 4.34s, save: 10.89s)	[pipeline.py: 300]
-05/11 02:11:27 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
-  episode_total: mean=180.99s, total=180.99s, count=1, min=180992.5ms, max=180992.5ms
-  sensor_polling: mean=448.4ms, total=134.51s, count=300, min=387.1ms, max=836.3ms
-  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10886.3ms, max=10886.3ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=76.6ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.2ms, max=4344.2ms
-  task_sampling: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms
-  task_specific_sample: mean=350.1ms, total=350.1ms, count=1, min=350.1ms, max=350.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:11:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:11:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:11:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:11:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:11:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081934m	[env.py: 870]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91352809  0.92393993  0.08193438] yaw=-160.4deg	[env.py: 1019]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms	[env.py: 1075]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.924, 0.082)	[env.py: 1079]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:11:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:11:29 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:11:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:11:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 96.466[deg]	[grasp_sample.py: 539]
-05/11 02:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:11:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:11:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:11:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:11:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:11:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.811[deg]	[grasp_sample.py: 539]
-05/11 02:11:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:11:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:11:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:11:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:12:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:12:11 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:12:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:12:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:12:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:12:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:12:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:12:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:12:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:12:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:12:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.57s (batch: 3.98s, save: 7.59s)	[pipeline.py: 300]
-05/11 02:12:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.33s:
-  episode_total: mean=218.51s, total=218.51s, count=1, min=218513.5ms, max=218513.5ms
-  sensor_polling: mean=469.6ms, total=140.89s, count=300, min=408.0ms, max=816.1ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7592.4ms, max=7592.4ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.6ms, max=66.0ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.1ms, max=3979.1ms
-  task_sampling: mean=325.4ms, total=325.4ms, count=1, min=325.4ms, max=325.4ms
-  task_specific_sample: mean=322.0ms, total=322.0ms, count=1, min=322.0ms, max=322.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:12:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:12:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:12:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044415m	[env.py: 870]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77140581  0.05241508  0.04441512] yaw=152.8deg	[env.py: 1019]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92259071  1.08767172  0.04441512] yaw=-131.3deg	[env.py: 1019]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70458383  0.91251326  0.04441512] yaw=-147.9deg	[env.py: 1019]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms	[env.py: 1075]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.052, 0.044)	[env.py: 1079]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.8 deg	[env.py: 1082]
-05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:12:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:12:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:12:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:12:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:12:47 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.603[m] 93.759[deg]	[grasp_sample.py: 539]
-05/11 02:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:12:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:12:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:13:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:13:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:13:07 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/11 02:13:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:13:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:13:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:13:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:13:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:13:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.22s (batch: 3.75s, save: 9.47s)	[pipeline.py: 300]
-05/11 02:13:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.47s, total=183.47s, count=1, min=183472.3ms, max=183472.3ms
-  sensor_polling: mean=460.3ms, total=134.87s, count=293, min=402.7ms, max=1042.2ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9470.1ms, max=9470.1ms
-  physics_step: mean=23.1ms, total=6.76s, count=293, min=14.4ms, max=86.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3746.7ms, max=3746.7ms
-  task_sampling: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms
-  task_specific_sample: mean=405.3ms, total=405.3ms, count=1, min=405.3ms, max=405.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:13:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:13:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:13:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:13:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:13:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:13:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:13:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034407m	[env.py: 870]
-05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:13:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12066675  0.97592577  0.03440719] yaw=-141.2deg	[env.py: 1019]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:13:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=655.3ms, total=655.4ms	[env.py: 1075]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.121, 0.976, 0.034)	[env.py: 1079]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
-05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:13:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:13:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:13:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:13:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:13:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:13:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:13:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:13:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.999[deg]	[grasp_sample.py: 539]
-05/11 02:13:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:13:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:13:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:13:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:13:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:13:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.92s (batch: 4.04s, save: 10.87s)	[pipeline.py: 300]
-05/11 02:13:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=186.54s, total=186.54s, count=1, min=186541.4ms, max=186541.4ms
-  sensor_polling: mean=453.9ms, total=136.17s, count=300, min=394.8ms, max=948.8ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10873.8ms, max=10873.8ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=41.0ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.0ms, max=4044.0ms
-  task_sampling: mean=502.7ms, total=502.7ms, count=1, min=502.7ms, max=502.7ms
-  task_specific_sample: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=387.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:13:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:13:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:13:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:13:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:13:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:13:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:13:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064634m	[env.py: 870]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:13:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7492322   0.59827049  0.06463395] yaw=-168.3deg	[env.py: 1019]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84550727  0.03044695  0.06463395] yaw=159.4deg	[env.py: 1019]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:13:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.4ms, total=254.4ms	[env.py: 1075]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.598, 0.065)	[env.py: 1079]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
-05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:13:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:13:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:13:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:13:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:13:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:13:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:13:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:13:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 98.427[deg]	[grasp_sample.py: 539]
-05/11 02:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:13:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:13:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:13:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:13:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:13:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:14:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:14:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:14:17 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:14:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:14:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:14:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:14:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:14:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:14:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.53s (batch: 3.91s, save: 9.62s)	[pipeline.py: 300]
-05/11 02:14:31 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s:
-  episode_total: mean=182.17s, total=182.17s, count=1, min=182170.6ms, max=182170.6ms
-  sensor_polling: mean=445.0ms, total=133.49s, count=300, min=377.9ms, max=815.2ms
-  save_trajectories: mean=9.62s, total=9.62s, count=1, min=9623.3ms, max=9623.3ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.2ms, max=3910.2ms
-  task_sampling: mean=477.3ms, total=477.3ms, count=1, min=477.3ms, max=477.3ms
-  task_specific_sample: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:14:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:14:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:14:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:14:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:14:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:14:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:14:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007056m	[env.py: 870]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:14:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79033953  0.10587292  0.00705572] yaw=168.7deg	[env.py: 1019]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10505323  1.13187672  0.00705572] yaw=-126.0deg	[env.py: 1019]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98772093  0.73590272  0.00705572] yaw=-151.1deg	[env.py: 1019]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:14:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=838.8ms, total=838.9ms	[env.py: 1075]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.106, 0.007)	[env.py: 1079]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg	[env.py: 1082]
-05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:14:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:14:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:14:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:14:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.886s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:14:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.556[m] 84.650[deg]	[grasp_sample.py: 539]
-05/11 02:14:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:14:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:14:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:14:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:15:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:15:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:15:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:15:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:15:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:15:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:15:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:15:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:15:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:15:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:15:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.09s (batch: 3.92s, save: 7.18s)	[pipeline.py: 300]
-05/11 02:15:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:15:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.353[deg]	[grasp_sample.py: 539]
-05/11 02:15:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
-  episode_total: mean=186.71s, total=186.71s, count=1, min=186708.6ms, max=186708.6ms
-  sensor_polling: mean=473.2ms, total=141.97s, count=300, min=404.4ms, max=989.0ms
-  save_trajectories: mean=7.18s, total=7.18s, count=1, min=7175.8ms, max=7175.8ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=58.3ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.7ms, max=3915.7ms
-  task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:15:52 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:15:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:15:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:15:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059628m	[env.py: 870]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07893819  0.90348727  0.05962831] yaw=-149.1deg	[env.py: 1019]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms	[env.py: 1075]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.903, 0.060)	[env.py: 1079]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg	[env.py: 1082]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:15:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:15:53 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:15:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:15:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:15:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:15:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:15:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053524m	[env.py: 870]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.6ms, total=158.6ms	[env.py: 1105]
-05/11 02:15:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/11 02:15:54 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/11 02:15:54 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:15:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:15:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 85.769[deg]	[grasp_sample.py: 539]
-05/11 02:15:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:15:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:15:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:15:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:15:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046928m	[env.py: 870]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93058141  0.39720608  0.04692755] yaw=163.1deg	[env.py: 1019]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88668265  1.09387563  0.04692755] yaw=-144.7deg	[env.py: 1019]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00789682  1.09355059  0.04692755] yaw=-135.9deg	[env.py: 1019]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms	[env.py: 1075]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.047)	[env.py: 1079]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
-05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:15:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:15:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:15:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:15:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:15:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.333[m] 86.966[deg]	[grasp_sample.py: 539]
-05/11 02:15:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:16:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:16:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:16:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:16:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:16:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:16:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:16:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:16:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.40s (batch: 4.00s, save: 8.40s)	[pipeline.py: 300]
-05/11 02:16:29 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s:
-  episode_total: mean=181.59s, total=181.59s, count=1, min=181589.6ms, max=181589.6ms
-  sensor_polling: mean=451.4ms, total=135.43s, count=300, min=394.9ms, max=744.7ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8402.2ms, max=8402.2ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.5ms, max=66.2ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.3ms, max=3998.3ms
-  task_sampling: mean=566.5ms, total=566.5ms, count=1, min=566.5ms, max=566.5ms
-  task_specific_sample: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:16:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:16:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:16:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:16:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:16:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:16:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:16:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072093m	[env.py: 870]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:16:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83560006  0.81752111  0.07209266] yaw=-163.6deg	[env.py: 1019]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86615929  1.06937182  0.07209266] yaw=-148.1deg	[env.py: 1019]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:16:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=485.9ms, total=485.9ms	[env.py: 1075]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.818, 0.072)	[env.py: 1079]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg	[env.py: 1082]
-05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:16:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:16:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:16:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:16:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:16:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:16:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:16:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 101.041[deg]	[grasp_sample.py: 539]
-05/11 02:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:16:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:16:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:16:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:16:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:16:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:16:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:17:07 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:17:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:17:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:17:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:17:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:17:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:17:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.878s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:17:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]	[grasp_sample.py: 539]
-05/11 02:17:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:17:40 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:17:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:17:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:17:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.40s (batch: 3.84s, save: 10.56s)	[pipeline.py: 300]
-05/11 02:17:42 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:17:42 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:17:42 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
-05/11 02:17:42 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5052.42s
-  House averages:
-  episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms
-  sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms
-  physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms
-  save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms
-  save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms
-  task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms
-  task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 02:17:42 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 02:17:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5052.42s
-  Worker averages:
-  episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms
-  sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms
-  physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms
-  save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms
-  save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms
-  task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms
-  task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 02:17:42 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
-  episode_total: mean=189.22s, total=189.22s, count=1, min=189219.2ms, max=189219.2ms
-  sensor_polling: mean=449.7ms, total=134.91s, count=300, min=396.7ms, max=619.1ms
-  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10560.4ms, max=10560.4ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=41.1ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.8ms, max=3835.8ms
-  task_sampling: mean=1.19s, total=1.19s, count=1, min=1192.8ms, max=1192.8ms
-  task_specific_sample: mean=1.19s, total=1.19s, count=1, min=1188.5ms, max=1188.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:17:44 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:17:44 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:17:44 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
-05/11 02:17:44 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5068.46s
-  House averages:
-  episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms
-  sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms
-  save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms
-  physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms
-  task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 02:17:44 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 02:17:44 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5068.46s
-  Worker averages:
-  episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms
-  sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms
-  save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms
-  physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms
-  task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 02:17:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 02:17:45 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
-05/11 02:17:45 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 02:17:47 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 02:17:47 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
-05/11 02:17:47 INFO: Success rate: 92.31%	[pipeline.py: 1492]
-05/11 02:18:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:18:36 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:18:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:18:36 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/11 02:18:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:18:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:18:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.22s (batch: 3.79s, save: 7.43s)	[pipeline.py: 300]
-05/11 02:18:48 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
-  episode_total: mean=174.94s, total=174.94s, count=1, min=174943.0ms, max=174943.0ms
-  sensor_polling: mean=460.3ms, total=133.02s, count=289, min=385.9ms, max=722.4ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7425.8ms, max=7425.8ms
-  physics_step: mean=21.7ms, total=6.28s, count=289, min=13.4ms, max=51.5ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.3ms, max=3789.3ms
-  task_sampling: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
-  task_specific_sample: mean=450.4ms, total=450.4ms, count=1, min=450.4ms, max=450.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:18:49 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:18:49 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:18:49 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
-05/11 02:18:49 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5141.37s
-  House averages:
-  episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms
-  sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms
-  save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms
-  physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms
-  save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms
-  task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms
-  task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 02:18:49 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 02:18:49 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5141.37s
-  Worker averages:
-  episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms
-  sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms
-  save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms
-  physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms
-  save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms
-  task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms
-  task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 02:18:51 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 02:18:51 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
-05/11 02:18:51 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/11 02:18:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:19:15 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_013	[pipeline.py: 1174]
-05/11 02:19:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:19:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:19:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:19:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013	[save_utils.py: 785]
-05/11 02:19:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 10.73s (batch: 3.37s, save: 7.36s)	[pipeline.py: 300]
-05/11 02:19:26 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.82s:
-  episode_total: mean=175.15s, total=175.15s, count=1, min=175154.4ms, max=175154.4ms
-  sensor_polling: mean=435.9ms, total=130.76s, count=300, min=362.4ms, max=720.2ms
-  save_trajectories: mean=7.36s, total=7.36s, count=1, min=7356.1ms, max=7356.1ms
-  physics_step: mean=20.6ms, total=6.17s, count=300, min=15.9ms, max=58.1ms
-  save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.6ms, max=3374.6ms
-  task_sampling: mean=824.7ms, total=824.7ms, count=1, min=824.7ms, max=824.7ms
-  task_specific_sample: mean=820.5ms, total=820.5ms, count=1, min=820.5ms, max=820.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:19:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:19:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:19:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:19:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:19:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008717m	[env.py: 870]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91543559  0.31672414  0.00871677] yaw=166.6deg	[env.py: 1019]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8097813   0.98994931  0.00871677] yaw=-146.4deg	[env.py: 1019]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97364448  0.92436871  0.00871677] yaw=-140.9deg	[env.py: 1019]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:19:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.4ms, total=110.4ms	[env.py: 1075]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.317, 0.009)	[env.py: 1079]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
-05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:19:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:19:28 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:19:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:19:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:19:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:19:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:19:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:19:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.369[m] 93.495[deg]	[grasp_sample.py: 539]
-05/11 02:19:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:19:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:19:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:20:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:20:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:20:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:21:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:21:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.719s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:21:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg]	[grasp_sample.py: 539]
-05/11 02:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:21:11 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:21:11 WARNING: [Worker 0] No trajectory data to save for chunk_013	[pipeline.py: 234]
-05/11 02:21:11 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
-05/11 02:21:11 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5393.13s
-  House averages:
-  episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms
-  sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms
-  save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms
-  physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms
-  save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms
-  task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms
-  task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 02:21:11 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 02:21:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5393.13s
-  Worker averages:
-  episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms
-  sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms
-  save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms
-  physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms
-  save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms
-  task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms
-  task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 02:21:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 02:21:13 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
-05/11 02:21:13 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_013/shard_1_of_4.log b/fridge_7/chunk_013/shard_1_of_4.log
deleted file mode 100644
index d0884a33321a32c887c8ebad8df1c8d079f859b9..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_013/shard_1_of_4.log
+++ /dev/null
@@ -1,1775 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013
-  shard=1/4  seed=21301  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:28 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 01:31:28 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 01:31:28 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 01:31:28 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72ef2f458a90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21301,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 01:31:28 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 01:31:28 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 126371612894608 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126371612894608 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 126371612894608 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 126371612894608 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 126371620617808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126371620617808 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126371620604624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126371620604624 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126371620604624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126371620604624 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126371620617808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126371620617808 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126371618091344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126371618091344 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 126371618079248 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126371618079248 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 126371618079248 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 126371618079248 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 126371618091344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 126371618091344 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 01:31:28 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60ce8ba0c8f0 at 0x72ef2fa02b50>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60ce8ba0e040 at 0x72ef2f815fd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60ce8ba0e040 at 0x72ef2f998a10>
-[05/11 01:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079492m
-[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94466076  1.24345228  0.07949187] yaw=-127.7deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=14.4ms, retries=281.7ms, total=296.2ms
-[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.243, 0.079)
-[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 01:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.996s
-[05/11 01:32:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:32:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:32:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.108s, found 88 non-colliding grasps
-[05/11 01:32:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False
-[05/11 01:32:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 01:32:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:32:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:32:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 01:32:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:32:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:32:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010278m
-[05/11 01:32:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:32:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:32:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:32:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95346817  0.76576416  0.01027799] yaw=-155.5deg
-[05/11 01:32:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:32:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61373926  0.51464779  0.01027799] yaw=-186.5deg
-[05/11 01:32:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:32:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:32:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=190.9ms
-[05/11 01:32:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.766, 0.010)
-[05/11 01:32:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg
-[05/11 01:32:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.801m
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:32:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:32:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:32:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 01:32:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/11 01:32:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:32:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:32:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:32:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True
-[05/11 01:32:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 92.895[deg]
-[05/11 01:32:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:34:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 01:35:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:35:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/11 01:35:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 01:35:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.94s (batch: 4.59s, save: 9.35s)
-[05/11 01:35:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.85s:
-  episode_total: mean=118.72s, total=237.44s, count=2, min=36175.7ms, max=201266.7ms
-  sensor_polling: mean=515.1ms, total=152.99s, count=297, min=447.7ms, max=747.4ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.8ms, max=9352.8ms
-  physics_step: mean=25.8ms, total=7.65s, count=297, min=15.7ms, max=134.4ms
-  task_sampling: mean=2.43s, total=4.85s, count=2, min=446.6ms, max=4407.1ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.3ms, max=4586.3ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  task_specific_sample: mean=598.9ms, total=1.20s, count=2, min=442.7ms, max=755.1ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=514.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=37.3us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:35:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:35:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/11 01:35:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:35:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:35:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037574m
-[05/11 01:35:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:35:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:35:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:35:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69249484  0.76433619  0.03757412] yaw=-169.9deg
-[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91685599  1.1151431   0.03757412] yaw=-147.9deg
-[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72237891  0.18693578  0.03757412] yaw=172.1deg
-[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:35:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:35:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=108.9ms
-[05/11 01:35:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.764, 0.038)
-[05/11 01:35:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg
-[05/11 01:35:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:35:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 01:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 01:35:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:35:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:35:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.731s, found feasible grasp: True
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 97.223[deg]
-[05/11 01:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:36:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:36:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:38:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:38:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:38:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:38:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:38:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.02s (batch: 4.41s, save: 8.61s)
-[05/11 01:38:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s:
-  episode_total: mean=193.56s, total=193.56s, count=1, min=193562.3ms, max=193562.3ms
-  sensor_polling: mean=486.8ms, total=146.05s, count=300, min=437.7ms, max=654.5ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8610.1ms, max=8610.1ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=15.8ms, max=33.8ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.2ms, max=4406.2ms
-  task_sampling: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms
-  task_specific_sample: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:38:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:38:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/11 01:38:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:38:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:38:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059563m
-[05/11 01:38:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:38:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:38:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00665645  0.12652272  0.05956302] yaw=160.7deg
-[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:38:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86614407  1.13379898  0.05956302] yaw=-142.8deg
-[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:38:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95791409  0.1044396   0.05956302] yaw=149.5deg
-[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:38:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:38:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms
-[05/11 01:38:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.127, 0.060)
-[05/11 01:38:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg
-[05/11 01:38:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.781m
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:38:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 01:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/11 01:38:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:38:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:38:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:38:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True
-[05/11 01:38:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.346[m] 90.367[deg]
-[05/11 01:38:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:40:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:40:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:40:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:40:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:40:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/11 01:40:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.469s, found feasible grasp: True
-[05/11 01:40:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.492[deg]
-[05/11 01:40:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:41:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:41:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:41:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:41:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:41:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 70 non-colliding grasps
-[05/11 01:41:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.990s, found feasible grasp: True
-[05/11 01:41:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.279[deg]
-[05/11 01:41:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:41:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:42:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:42:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:42:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:42:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:42:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:42:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:42:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.32s (batch: 5.33s, save: 8.98s)
-[05/11 01:42:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
-  episode_total: mean=237.33s, total=237.33s, count=1, min=237329.7ms, max=237329.7ms
-  sensor_polling: mean=485.7ms, total=145.70s, count=300, min=459.6ms, max=677.9ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.1ms, max=8982.1ms
-  physics_step: mean=23.2ms, total=6.96s, count=300, min=14.7ms, max=61.7ms
-  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5333.9ms, max=5333.9ms
-  task_sampling: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
-  task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:42:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:42:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:42:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 01:42:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:42:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:42:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010254m
-[05/11 01:42:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:42:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:42:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97492154  0.11714843  0.01025359] yaw=149.1deg
-[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87571417  0.68354527  0.01025359] yaw=-160.4deg
-[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00880394  0.10528263  0.01025359] yaw=159.8deg
-[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:42:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:42:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.9ms, total=310.9ms
-[05/11 01:42:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.117, 0.010)
-[05/11 01:42:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg
-[05/11 01:42:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:42:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:42:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:42:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 01:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/11 01:42:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:42:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:42:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 01:42:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True
-[05/11 01:42:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.357[m] 88.532[deg]
-[05/11 01:42:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:44:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:44:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:44:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:44:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:44:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/11 01:44:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True
-[05/11 01:44:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.730[deg]
-[05/11 01:44:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:45:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:45:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:45:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:45:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:45:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:45:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:45:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
-[05/11 01:45:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.510s, found feasible grasp: True
-[05/11 01:45:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.942[deg]
-[05/11 01:45:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:45:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:45:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:45:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:46:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:46:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:46:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:46:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:46:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:46:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.31s (batch: 4.45s, save: 8.86s)
-[05/11 01:46:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.59s:
-  episode_total: mean=227.52s, total=227.52s, count=1, min=227520.4ms, max=227520.4ms
-  sensor_polling: mean=502.1ms, total=150.64s, count=300, min=463.4ms, max=724.8ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8859.8ms, max=8859.8ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=15.1ms, max=64.3ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.3ms, max=4452.3ms
-  task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
-  task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:46:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:46:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:46:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/11 01:46:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:46:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:46:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087411m
-[05/11 01:46:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:46:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:46:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:46:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0889816   1.13404858  0.08741101] yaw=-134.5deg
-[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77037237  0.49990515  0.08741101] yaw=-187.3deg
-[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72796429  0.44351872  0.08741101] yaw=177.1deg
-[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:46:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:46:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.5ms, total=105.6ms
-[05/11 01:46:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.134, 0.087)
-[05/11 01:46:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg
-[05/11 01:46:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:46:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:46:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:46:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 01:46:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/11 01:46:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:46:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:46:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 01:46:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.598s, found feasible grasp: True
-[05/11 01:46:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.468[m] 87.636[deg]
-[05/11 01:46:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:46:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:46:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:46:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/11 01:46:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:46:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:46:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081088m
-[05/11 01:46:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:46:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:46:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90936579  0.31391192  0.08108846] yaw=177.3deg
-[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94715813  1.00139768  0.08108846] yaw=-145.1deg
-[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78068422  0.14210473  0.08108846] yaw=167.6deg
-[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:46:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:46:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms
-[05/11 01:46:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.314, 0.081)
-[05/11 01:46:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg
-[05/11 01:46:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:46:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:46:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 01:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 01:46:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:46:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:46:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 01:46:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True
-[05/11 01:46:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 88.450[deg]
-[05/11 01:46:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:46:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:46:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:48:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:48:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:48:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:48:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:48:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:48:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:48:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps
-[05/11 01:48:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.353s, found feasible grasp: True
-[05/11 01:48:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]
-[05/11 01:48:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:48:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:48:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:48:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/11 01:48:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:48:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:48:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041107m
-[05/11 01:48:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:48:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:48:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:48:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7540735   0.86778566  0.04110691] yaw=-167.5deg
-[05/11 01:48:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:48:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6618206   0.76808687  0.04110691] yaw=-164.6deg
-[05/11 01:48:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:48:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:48:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.7ms, total=343.7ms
-[05/11 01:48:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.868, 0.041)
-[05/11 01:48:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
-[05/11 01:48:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.024m
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:48:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:48:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:48:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 01:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
-[05/11 01:48:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:48:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:48:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
-[05/11 01:48:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.709s, found feasible grasp: True
-[05/11 01:48:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 81.961[deg]
-[05/11 01:48:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:49:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:51:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:51:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:51:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:51:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:51:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:51:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:51:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.06s, save: 8.46s)
-[05/11 01:51:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=107.52s, total=322.55s, count=3, min=3195.6ms, max=202707.3ms
-  sensor_polling: mean=513.3ms, total=246.36s, count=480, min=434.0ms, max=942.3ms
-  physics_step: mean=25.9ms, total=12.44s, count=480, min=15.3ms, max=92.6ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.5ms, max=4058.5ms
-  task_sampling: mean=515.3ms, total=1.55s, count=3, min=404.8ms, max=683.9ms
-  task_specific_sample: mean=511.8ms, total=1.54s, count=3, min=400.6ms, max=680.6ms
-  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=488.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 01:52:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:52:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:52:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
-[05/11 01:52:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:52:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:52:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026012m
-[05/11 01:52:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:52:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:52:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83272999  0.14457834  0.02601164] yaw=170.0deg
-[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92951344  0.41597284  0.02601164] yaw=181.2deg
-[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00220265  0.78996325  0.02601164] yaw=-152.5deg
-[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:52:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:52:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=440.8ms, total=440.8ms
-[05/11 01:52:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.145, 0.026)
-[05/11 01:52:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
-[05/11 01:52:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:52:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 01:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
-[05/11 01:52:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:52:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:52:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps
-[05/11 01:52:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True
-[05/11 01:52:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.503[m] 87.087[deg]
-[05/11 01:52:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:54:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/11 01:54:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True
-[05/11 01:54:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.719[deg]
-[05/11 01:54:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:54:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:55:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:55:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:55:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:55:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:55:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:55:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.09s (batch: 5.04s, save: 10.05s)
-[05/11 01:55:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.82s:
-  episode_total: mean=204.45s, total=204.45s, count=1, min=204447.1ms, max=204447.1ms
-  sensor_polling: mean=460.3ms, total=138.08s, count=300, min=390.0ms, max=774.5ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.0ms, max=10047.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.7ms, max=74.2ms
-  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5044.3ms, max=5044.3ms
-  task_sampling: mean=824.6ms, total=824.6ms, count=1, min=824.6ms, max=824.6ms
-  task_specific_sample: mean=820.4ms, total=820.4ms, count=1, min=820.4ms, max=820.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=549.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:55:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:55:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:55:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/11 01:55:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:55:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:55:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045787m
-[05/11 01:55:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:55:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:55:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:55:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85177344  0.80161985  0.04578702] yaw=-148.3deg
-[05/11 01:55:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:55:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82275171  0.34723991  0.04578702] yaw=176.9deg
-[05/11 01:55:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:55:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:55:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.7ms
-[05/11 01:55:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.802, 0.046)
-[05/11 01:55:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg
-[05/11 01:55:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:55:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:55:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:55:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 01:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 01:55:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:55:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:55:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:55:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/11 01:55:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 91.899[deg]
-[05/11 01:55:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:56:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:56:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:56:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:57:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:58:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:58:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 01:58:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:58:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:58:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:58:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.07s (batch: 4.03s, save: 11.04s)
-[05/11 01:58:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.47s, total=183.47s, count=1, min=183465.1ms, max=183465.1ms
-  sensor_polling: mean=449.5ms, total=134.84s, count=300, min=382.1ms, max=786.9ms
-  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11037.8ms, max=11037.8ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=13.4ms, max=48.5ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
-  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
-  task_specific_sample: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=540.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:58:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:58:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:58:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
-[05/11 01:58:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:58:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:58:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029288m
-[05/11 01:58:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:58:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:58:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:58:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94924802  0.76423917  0.02928831] yaw=-150.4deg
-[05/11 01:58:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:58:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66734474  0.47914572  0.02928831] yaw=169.0deg
-[05/11 01:58:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:58:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:58:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.6ms
-[05/11 01:58:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.764, 0.029)
-[05/11 01:58:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg
-[05/11 01:58:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:58:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:58:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:58:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 01:58:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:58:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:58:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:58:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True
-[05/11 01:58:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.394[m] 93.144[deg]
-[05/11 01:58:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:00:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:01:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:01:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:01:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:01:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:01:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:01:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.03s, save: 8.38s)
-[05/11 02:01:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
-  episode_total: mean=184.32s, total=184.32s, count=1, min=184324.6ms, max=184324.6ms
-  sensor_polling: mean=452.3ms, total=135.69s, count=300, min=397.5ms, max=712.3ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8381.6ms, max=8381.6ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.6ms, max=60.6ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.2ms, max=4034.2ms
-  task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms
-  task_specific_sample: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:01:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:01:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:01:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:01:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:01:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:01:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:01:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/11 02:01:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:01:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:01:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033207m
-[05/11 02:01:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:01:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:01:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:01:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02187623  1.09867045  0.03320744] yaw=-129.9deg
-[05/11 02:01:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92467512  0.36032287  0.03320744] yaw=173.5deg
-[05/11 02:01:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:01:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80259357  0.56671283  0.03320744] yaw=-165.6deg
-[05/11 02:01:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:01:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:01:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=535.9ms, total=535.9ms
-[05/11 02:01:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.099, 0.033)
-[05/11 02:01:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg
-[05/11 02:01:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.918m
-[05/11 02:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:01:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:01:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
-[05/11 02:01:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:01:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:01:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
-[05/11 02:01:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.346s, found feasible grasp: True
-[05/11 02:01:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.496[m] 93.352[deg]
-[05/11 02:01:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:04:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:04:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:04:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps
-[05/11 02:04:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.507s, found feasible grasp: True
-[05/11 02:04:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.353[deg]
-[05/11 02:04:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/11 02:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033110m
-[05/11 02:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78524287  1.00001747  0.03310973] yaw=-152.9deg
-[05/11 02:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79539714  1.00948413  0.03310973] yaw=-160.6deg
-[05/11 02:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.5ms
-[05/11 02:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 1.000, 0.033)
-[05/11 02:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg
-[05/11 02:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:04:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True
-[05/11 02:04:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.605[m] 84.653[deg]
-[05/11 02:04:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:06:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:06:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:06:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:06:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:07:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:07:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:07:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.44s (batch: 4.54s, save: 8.90s)
-[05/11 02:07:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.21s:
-  episode_total: mean=165.90s, total=331.79s, count=2, min=149262.5ms, max=182527.7ms
-  sensor_polling: mean=446.4ms, total=259.80s, count=582, min=381.4ms, max=838.9ms
-  physics_step: mean=20.6ms, total=12.00s, count=582, min=16.5ms, max=47.5ms
-  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8899.7ms, max=8899.7ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4543.9ms, max=4543.9ms
-  task_sampling: mean=602.7ms, total=1.21s, count=2, min=409.5ms, max=796.0ms
-  task_specific_sample: mean=599.0ms, total=1.20s, count=2, min=406.0ms, max=791.9ms
-  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms
-  mj_forward_sync: mean=487.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:07:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:07:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:07:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
-[05/11 02:07:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:07:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:07:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067662m
-[05/11 02:07:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:07:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:07:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70394456  0.42823037  0.06766191] yaw=171.5deg
-[05/11 02:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:07:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:07:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms
-[05/11 02:07:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.428, 0.068)
-[05/11 02:07:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg
-[05/11 02:07:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.000m
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:07:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:07:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
-[05/11 02:07:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:07:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:07:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:07:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True
-[05/11 02:07:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.542[m] 88.124[deg]
-[05/11 02:07:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:10:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:10:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:10:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:10:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:10:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:10:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.40s (batch: 4.68s, save: 10.72s)
-[05/11 02:10:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
-  episode_total: mean=185.56s, total=185.56s, count=1, min=185555.5ms, max=185555.5ms
-  sensor_polling: mean=455.7ms, total=136.70s, count=300, min=397.6ms, max=768.1ms
-  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10721.3ms, max=10721.3ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=63.6ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.4ms, max=4677.4ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=400.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:10:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:10:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:10:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/11 02:10:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:10:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:10:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034627m
-[05/11 02:10:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:10:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:10:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68152315  0.4135844   0.03462703] yaw=172.4deg
-[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75870388  0.94424003  0.03462703] yaw=-160.3deg
-[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.17155577  1.06393791  0.03462703] yaw=-133.2deg
-[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:10:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:10:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.6ms
-[05/11 02:10:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.414, 0.035)
-[05/11 02:10:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg
-[05/11 02:10:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:10:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:10:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/11 02:10:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:10:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:10:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 02:10:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True
-[05/11 02:10:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 87.401[deg]
-[05/11 02:10:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:12:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:13:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:13:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:13:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:13:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:13:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:13:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.92s (batch: 4.04s, save: 10.87s)
-[05/11 02:13:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
-  episode_total: mean=186.54s, total=186.54s, count=1, min=186541.4ms, max=186541.4ms
-  sensor_polling: mean=453.9ms, total=136.17s, count=300, min=394.8ms, max=948.8ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10873.8ms, max=10873.8ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=41.0ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.0ms, max=4044.0ms
-  task_sampling: mean=502.7ms, total=502.7ms, count=1, min=502.7ms, max=502.7ms
-  task_specific_sample: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=387.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:13:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:13:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:13:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 02:13:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:13:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:13:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064634m
-[05/11 02:13:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:13:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:13:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7492322   0.59827049  0.06463395] yaw=-168.3deg
-[05/11 02:13:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84550727  0.03044695  0.06463395] yaw=159.4deg
-[05/11 02:13:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:13:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:13:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.4ms, total=254.4ms
-[05/11 02:13:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.598, 0.065)
-[05/11 02:13:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg
-[05/11 02:13:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.960m
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:13:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:13:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 02:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 02:13:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:13:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:13:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 02:13:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True
-[05/11 02:13:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 98.427[deg]
-[05/11 02:13:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:14:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:15:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:16:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:16:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:16:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:16:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:16:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:16:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.40s (batch: 4.00s, save: 8.40s)
-[05/11 02:16:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s:
-  episode_total: mean=181.59s, total=181.59s, count=1, min=181589.6ms, max=181589.6ms
-  sensor_polling: mean=451.4ms, total=135.43s, count=300, min=394.9ms, max=744.7ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8402.2ms, max=8402.2ms
-  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.5ms, max=66.2ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.3ms, max=3998.3ms
-  task_sampling: mean=566.5ms, total=566.5ms, count=1, min=566.5ms, max=566.5ms
-  task_specific_sample: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:16:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:16:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:16:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 02:16:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:16:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:16:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072093m
-[05/11 02:16:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:16:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:16:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:16:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83560006  0.81752111  0.07209266] yaw=-163.6deg
-[05/11 02:16:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:16:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86615929  1.06937182  0.07209266] yaw=-148.1deg
-[05/11 02:16:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:16:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:16:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=485.9ms, total=485.9ms
-[05/11 02:16:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.818, 0.072)
-[05/11 02:16:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg
-[05/11 02:16:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:16:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:16:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:16:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 02:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/11 02:16:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:16:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:16:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 02:16:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True
-[05/11 02:16:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.527[m] 101.041[deg]
-[05/11 02:16:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:18:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:19:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:19:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes
-[05/11 02:19:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:19:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:19:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:19:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 10.73s (batch: 3.37s, save: 7.36s)
-[05/11 02:19:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.82s:
-  episode_total: mean=175.15s, total=175.15s, count=1, min=175154.4ms, max=175154.4ms
-  sensor_polling: mean=435.9ms, total=130.76s, count=300, min=362.4ms, max=720.2ms
-  save_trajectories: mean=7.36s, total=7.36s, count=1, min=7356.1ms, max=7356.1ms
-  physics_step: mean=20.6ms, total=6.17s, count=300, min=15.9ms, max=58.1ms
-  save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.6ms, max=3374.6ms
-  task_sampling: mean=824.7ms, total=824.7ms, count=1, min=824.7ms, max=824.7ms
-  task_specific_sample: mean=820.5ms, total=820.5ms, count=1, min=820.5ms, max=820.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:19:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:19:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:19:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/11 02:19:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:19:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:19:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008717m
-[05/11 02:19:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:19:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:19:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91543559  0.31672414  0.00871677] yaw=166.6deg
-[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:19:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:19:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8097813   0.98994931  0.00871677] yaw=-146.4deg
-[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97364448  0.92436871  0.00871677] yaw=-140.9deg
-[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:19:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:19:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.4ms, total=110.4ms
-[05/11 02:19:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.317, 0.009)
-[05/11 02:19:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg
-[05/11 02:19:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:19:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:19:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 02:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/11 02:19:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:19:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:19:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 02:19:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True
-[05/11 02:19:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.369[m] 93.495[deg]
-[05/11 02:19:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:21:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:21:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:21:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
-[05/11 02:21:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.719s, found feasible grasp: True
-[05/11 02:21:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg]
-[05/11 02:21:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:21:11 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:21:11 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:21:11 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
-[05/11 02:21:11 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5393.13s
-  House averages:
-  episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms
-  sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms
-  save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms
-  physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms
-  save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms
-  task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms
-  task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:21:11 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 02:21:11 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5393.13s
-  Worker averages:
-  episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms
-  sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms
-  save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms
-  physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms
-  save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms
-  task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms
-  task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms
-  scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms
-  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms
-  scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms
-  compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
-  compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms
-  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
-  compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms
-  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
-  scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms
-  asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms
-  compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
-  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
-  mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:21:13 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 02:21:13 INFO pipeline.py:1491] Success count: 13, Total count: 13
-[05/11 02:21:13 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013
-==========================================
diff --git a/fridge_7/chunk_013/shard_2_of_4.log b/fridge_7/chunk_013/shard_2_of_4.log
deleted file mode 100644
index 198ed2518ce807a3d60664f1124aeffbb8fe6875..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_013/shard_2_of_4.log
+++ /dev/null
@@ -1,1656 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013
-  shard=2/4  seed=21302  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:29 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 01:31:29 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 01:31:29 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 01:31:29 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73c14f1e1650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21302,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 01:31:29 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 01:31:29 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 127274090341712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127274090341712 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 127274090341712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127274090341712 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 127274096736976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127274096736976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127274096737744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127274096737744 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127274096737744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127274096737744 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127274096736976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127274096736976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127274090368144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127274090368144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127274090370832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127274090370832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 127274090370832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127274090370832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127274090368144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127274090368144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5aaa0a8a9350 at 0x73c14f626790>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5aaa0a8d6ef0 at 0x73c14f6325d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5aaa0a8d6ef0 at 0x73c14f7b86d0>
-[05/11 01:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081018m
-[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94097666  0.20912728  0.08101815] yaw=158.0deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78488079  0.9359038   0.08101815] yaw=-144.6deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01091474  0.15636647  0.08101815] yaw=152.9deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=24.4ms, retries=393.1ms, total=417.5ms
-[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.209, 0.081)
-[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.511s
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/11 01:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True
-[05/11 01:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.346[m] 84.768[deg]
-[05/11 01:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:33:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:33:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:33:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:33:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:33:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:33:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:33:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
-[05/11 01:33:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True
-[05/11 01:33:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.595[deg]
-[05/11 01:33:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:33:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:33:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:33:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/11 01:33:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:33:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:33:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010639m
-[05/11 01:33:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:33:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:33:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66648087  0.81771899  0.01063919] yaw=-155.5deg
-[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72922579  0.22027566  0.01063919] yaw=175.8deg
-[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76402374  0.87655768  0.01063919] yaw=-149.7deg
-[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:33:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:33:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.8ms, total=180.8ms
-[05/11 01:33:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.818, 0.011)
-[05/11 01:33:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg
-[05/11 01:33:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:33:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:33:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 01:33:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/11 01:33:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:33:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:33:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 01:34:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.667s, found feasible grasp: True
-[05/11 01:34:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.631[m] 85.171[deg]
-[05/11 01:34:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:35:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:36:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 01:37:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:37:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:37:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:37:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 01:37:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:37:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.46s (batch: 4.46s, save: 9.00s)
-[05/11 01:37:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.20s:
-  episode_total: mean=171.78s, total=343.55s, count=2, min=148352.9ms, max=195199.2ms
-  sensor_polling: mean=506.4ms, total=239.01s, count=472, min=421.5ms, max=871.1ms
-  physics_step: mean=24.6ms, total=11.63s, count=472, min=17.2ms, max=65.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9000.2ms, max=9000.2ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.5ms, max=4458.5ms
-  task_sampling: mean=2.10s, total=4.20s, count=2, min=442.8ms, max=3759.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  task_specific_sample: mean=616.4ms, total=1.23s, count=2, min=440.0ms, max=792.9ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.4ms, max=1.5ms
-  mj_forward_sync: mean=445.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=30.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:37:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:37:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:37:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/11 01:37:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:37:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:37:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048771m
-[05/11 01:37:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:37:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:37:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96786748  1.2396158   0.04877066] yaw=-137.8deg
-[05/11 01:37:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94120844  0.08156254  0.04877066] yaw=155.1deg
-[05/11 01:37:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:37:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:37:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms
-[05/11 01:37:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.968, 1.240, 0.049)
-[05/11 01:37:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg
-[05/11 01:37:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:37:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:37:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:37:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 01:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 01:37:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:37:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:37:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:37:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True
-[05/11 01:37:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.652[m] 89.142[deg]
-[05/11 01:37:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:37:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:37:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:37:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/11 01:37:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:37:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:37:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020202m
-[05/11 01:37:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:37:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:37:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86381574  0.27934673  0.02020165] yaw=168.8deg
-[05/11 01:37:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:37:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74006074  0.77350165  0.02020165] yaw=-159.1deg
-[05/11 01:37:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:37:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:37:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.4ms
-[05/11 01:37:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.279, 0.020)
-[05/11 01:37:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg
-[05/11 01:37:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:37:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:37:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:37:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 01:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 01:37:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:37:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:37:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:37:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True
-[05/11 01:37:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 83.610[deg]
-[05/11 01:37:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:39:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:39:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:39:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:39:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:39:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:39:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/11 01:39:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.479s, found feasible grasp: True
-[05/11 01:39:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]
-[05/11 01:39:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:39:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:40:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:40:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:40:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:40:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:40:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:40:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:40:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.12s (batch: 4.34s, save: 8.77s)
-[05/11 01:40:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.90s:
-  episode_total: mean=101.41s, total=202.81s, count=2, min=3228.8ms, max=199582.4ms
-  sensor_polling: mean=479.1ms, total=143.73s, count=300, min=449.2ms, max=676.0ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8774.3ms, max=8774.3ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=15.3ms, max=68.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
-  task_sampling: mean=447.6ms, total=895.2ms, count=2, min=436.1ms, max=459.1ms
-  task_specific_sample: mean=444.2ms, total=888.4ms, count=2, min=433.2ms, max=455.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=429.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:40:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:40:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:40:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
-[05/11 01:40:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:40:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:40:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046409m
-[05/11 01:40:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:40:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:40:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8388099   0.57420963  0.0464086 ] yaw=-180.7deg
-[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85545487  0.90323514  0.0464086 ] yaw=-159.0deg
-[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93814788  0.49113463  0.0464086 ] yaw=-183.3deg
-[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:40:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:40:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms
-[05/11 01:40:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.574, 0.046)
-[05/11 01:40:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg
-[05/11 01:40:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:40:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:40:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:40:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 01:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 01:40:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:40:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:40:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
-[05/11 01:40:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True
-[05/11 01:40:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.391[m] 87.086[deg]
-[05/11 01:40:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:41:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:41:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:43:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:43:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:43:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:43:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/11 01:43:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:43:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:43:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.36s (batch: 4.56s, save: 8.80s)
-[05/11 01:43:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s:
-  episode_total: mean=196.93s, total=196.93s, count=1, min=196932.8ms, max=196932.8ms
-  sensor_polling: mean=492.3ms, total=147.20s, count=299, min=449.7ms, max=727.0ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8803.3ms, max=8803.3ms
-  physics_step: mean=24.8ms, total=7.42s, count=299, min=15.7ms, max=39.3ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4558.8ms, max=4558.8ms
-  task_sampling: mean=542.2ms, total=542.2ms, count=1, min=542.2ms, max=542.2ms
-  task_specific_sample: mean=538.3ms, total=538.3ms, count=1, min=538.3ms, max=538.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:44:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:44:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:44:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/11 01:44:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:44:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:44:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007125m
-[05/11 01:44:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:44:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:44:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0202967   0.92570172  0.00712482] yaw=-149.0deg
-[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9016868   0.26392259  0.00712482] yaw=169.2deg
-[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89914471  0.05612978  0.00712482] yaw=162.7deg
-[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:44:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:44:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms
-[05/11 01:44:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.926, 0.007)
-[05/11 01:44:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg
-[05/11 01:44:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:44:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:44:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 01:44:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 01:44:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:44:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:44:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 01:44:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True
-[05/11 01:44:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 96.168[deg]
-[05/11 01:44:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:46:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:46:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:46:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:46:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:47:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:47:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:47:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.53s (batch: 4.59s, save: 10.95s)
-[05/11 01:47:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=192.32s, total=192.32s, count=1, min=192316.3ms, max=192316.3ms
-  sensor_polling: mean=483.1ms, total=144.94s, count=300, min=447.7ms, max=736.6ms
-  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10945.9ms, max=10945.9ms
-  physics_step: mean=22.7ms, total=6.81s, count=300, min=16.7ms, max=33.5ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms
-  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
-  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
-  scene_randomize: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  mj_forward_sync: mean=501.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=35.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:47:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:47:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:47:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/11 01:47:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:47:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:47:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016013m
-[05/11 01:47:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:47:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:47:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7508625   0.28743108  0.01601278] yaw=170.1deg
-[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88813852  0.65228248  0.01601278] yaw=-169.2deg
-[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.926092    0.1978525   0.01601278] yaw=169.3deg
-[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:47:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:47:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms
-[05/11 01:47:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.287, 0.016)
-[05/11 01:47:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg
-[05/11 01:47:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:47:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:47:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 01:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
-[05/11 01:47:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:47:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:47:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:47:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
-[05/11 01:47:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.524[m] 89.404[deg]
-[05/11 01:47:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:48:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:50:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:50:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:50:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:50:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:50:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:50:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:50:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.66s (batch: 4.28s, save: 10.38s)
-[05/11 01:50:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
-  episode_total: mean=220.66s, total=220.66s, count=1, min=220657.7ms, max=220657.7ms
-  sensor_polling: mean=529.9ms, total=158.96s, count=300, min=435.5ms, max=946.3ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10377.3ms, max=10377.3ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=18.3ms, max=97.7ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.1ms, max=4278.1ms
-  task_sampling: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms
-  task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=612.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:50:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:50:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:50:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
-[05/11 01:50:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:50:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:50:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077561m
-[05/11 01:50:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:50:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:50:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69320892  0.81309939  0.07756099] yaw=-152.9deg
-[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99189788  0.21727546  0.07756099] yaw=160.5deg
-[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7083104   0.47951049  0.07756099] yaw=181.5deg
-[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:50:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:50:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=505.3ms, total=505.3ms
-[05/11 01:50:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.813, 0.078)
-[05/11 01:50:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg
-[05/11 01:50:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:50:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:50:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:50:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 01:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
-[05/11 01:50:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:50:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:50:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/11 01:51:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.045s, found feasible grasp: True
-[05/11 01:51:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.619[m] 80.130[deg]
-[05/11 01:51:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:51:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:51:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:52:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:52:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:53:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:53:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:53:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:53:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:53:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:53:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:53:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.66s (batch: 4.02s, save: 8.64s)
-[05/11 01:54:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.82s:
-  episode_total: mean=182.53s, total=182.53s, count=1, min=182531.1ms, max=182531.1ms
-  sensor_polling: mean=449.8ms, total=134.93s, count=300, min=374.1ms, max=726.3ms
-  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8644.7ms, max=8644.7ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.7ms, max=50.6ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.3ms, max=4018.3ms
-  task_sampling: mean=824.0ms, total=824.0ms, count=1, min=824.0ms, max=824.0ms
-  task_specific_sample: mean=815.1ms, total=815.1ms, count=1, min=815.1ms, max=815.1ms
-  scene_randomize: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms
-  mj_forward_sync: mean=636.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=33.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:54:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:54:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
-[05/11 01:54:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:54:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:54:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058022m
-[05/11 01:54:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:54:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:54:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:54:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80857765  0.89300258  0.05802197] yaw=-159.9deg
-[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66461089  0.47854952  0.05802197] yaw=187.6deg
-[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20675719  1.10200052  0.05802197] yaw=-129.6deg
-[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:54:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:54:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms
-[05/11 01:54:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.893, 0.058)
-[05/11 01:54:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
-[05/11 01:54:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:54:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 01:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s
-[05/11 01:54:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
-[05/11 01:54:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.412s, found feasible grasp: True
-[05/11 01:54:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.555[m] 74.349[deg]
-[05/11 01:54:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:54:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:54:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/11 01:54:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:54:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:54:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007955m
-[05/11 01:54:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:54:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:54:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93855901  0.9035202   0.00795479] yaw=-148.1deg
-[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7447752   0.67854128  0.00795479] yaw=-167.6deg
-[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64676416  0.32068643  0.00795479] yaw=166.6deg
-[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:54:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:54:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms
-[05/11 01:54:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.904, 0.008)
-[05/11 01:54:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg
-[05/11 01:54:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:54:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 01:54:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
-[05/11 01:54:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 96.112[deg]
-[05/11 01:54:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:56:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:56:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:56:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 01:56:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:57:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:57:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:57:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.01s (batch: 3.78s, save: 8.23s)
-[05/11 01:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.87s:
-  episode_total: mean=92.60s, total=185.19s, count=2, min=8247.1ms, max=176947.7ms
-  sensor_polling: mean=442.9ms, total=132.88s, count=300, min=380.0ms, max=720.8ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.6ms, max=8229.6ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=14.3ms, max=52.0ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.8ms, max=3784.8ms
-  task_sampling: mean=435.2ms, total=870.4ms, count=2, min=399.7ms, max=470.6ms
-  task_specific_sample: mean=431.5ms, total=863.0ms, count=2, min=396.6ms, max=466.5ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/11 01:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085128m
-[05/11 01:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78993468  1.03177546  0.08512784] yaw=-137.9deg
-[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86007157  0.9490361   0.08512784] yaw=-151.4deg
-[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9399273   0.84934148  0.08512784] yaw=-145.6deg
-[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms
-[05/11 01:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 1.032, 0.085)
-[05/11 01:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg
-[05/11 01:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:57:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s
-[05/11 01:57:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:57:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:57:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 01:57:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.408s, found feasible grasp: True
-[05/11 01:57:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.668[m] 89.271[deg]
-[05/11 01:57:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 01:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:59:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:59:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
-[05/11 01:59:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True
-[05/11 01:59:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.593[deg]
-[05/11 01:59:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:59:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:59:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:59:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False
-[05/11 01:59:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.46s:
-  episode_total: mean=152.41s, total=152.41s, count=1, min=152414.3ms, max=152414.3ms
-  sensor_polling: mean=452.0ms, total=135.60s, count=300, min=384.2ms, max=790.6ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=86.6ms
-  task_sampling: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms
-  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:59:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:59:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:59:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 01:59:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:59:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:59:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061103m
-[05/11 01:59:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:59:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:59:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77784123  0.62319549  0.06110304] yaw=-169.7deg
-[05/11 01:59:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:59:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:59:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms
-[05/11 01:59:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.623, 0.061)
-[05/11 01:59:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg
-[05/11 01:59:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:59:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:59:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:59:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s
-[05/11 01:59:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:59:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:59:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 01:59:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
-[05/11 01:59:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.496[m] 91.981[deg]
-[05/11 01:59:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:00:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:02:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:02:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:02:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 02:02:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:02:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:02:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:02:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.70s (batch: 3.85s, save: 7.85s)
-[05/11 02:02:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s:
-  episode_total: mean=181.84s, total=181.84s, count=1, min=181841.5ms, max=181841.5ms
-  sensor_polling: mean=450.4ms, total=135.12s, count=300, min=390.1ms, max=700.1ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7846.1ms, max=7846.1ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.2ms, max=92.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms
-  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
-  task_specific_sample: mean=380.3ms, total=380.3ms, count=1, min=380.3ms, max=380.3ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=370.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:02:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:02:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/11 02:02:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:02:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:02:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020453m
-[05/11 02:02:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:02:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:02:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05361528  1.26971665  0.02045298] yaw=-133.4deg
-[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:02:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92658013  0.4570848   0.02045298] yaw=182.2deg
-[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71873608  0.6239602   0.02045298] yaw=-178.2deg
-[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:02:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:02:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.5ms, total=300.5ms
-[05/11 02:02:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.270, 0.020)
-[05/11 02:02:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg
-[05/11 02:02:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:02:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:02:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/11 02:02:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:02:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:02:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
-[05/11 02:02:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True
-[05/11 02:02:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.637[m] 98.404[deg]
-[05/11 02:02:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:02:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:02:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)
-[05/11 02:02:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:02:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:02:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079521m
-[05/11 02:02:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:02:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:02:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06848935  1.06368493  0.07952051] yaw=-142.6deg
-[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78536504  0.11593287  0.07952051] yaw=152.4deg
-[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:02:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0410142   1.05791932  0.07952051] yaw=-139.3deg
-[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:02:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:02:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms
-[05/11 02:02:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.064, 0.080)
-[05/11 02:02:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg
-[05/11 02:02:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.860m
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:02:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/11 02:02:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:02:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:02:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:02:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True
-[05/11 02:02:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 86.251[deg]
-[05/11 02:02:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:05:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:05:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:05:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps
-[05/11 02:05:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.461s, found feasible grasp: True
-[05/11 02:05:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.254[deg]
-[05/11 02:05:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:05:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:05:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:05:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/11 02:05:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:05:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:05:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054386m
-[05/11 02:05:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:05:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:05:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88654203  0.84279379  0.05438618] yaw=-161.3deg
-[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8010138   0.54202448  0.05438618] yaw=-179.7deg
-[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12588699  1.11045172  0.05438618] yaw=-122.1deg
-[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:05:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:05:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms
-[05/11 02:05:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.843, 0.054)
-[05/11 02:05:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg
-[05/11 02:05:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:05:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:05:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/11 02:05:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:05:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:05:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/11 02:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True
-[05/11 02:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.451[m] 85.157[deg]
-[05/11 02:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:07:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:08:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:08:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 02:08:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:08:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:08:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:08:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.68s (batch: 5.07s, save: 7.61s)
-[05/11 02:08:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.19s:
-  episode_total: mean=111.23s, total=333.69s, count=3, min=3036.4ms, max=184222.6ms
-  sensor_polling: mean=453.1ms, total=260.53s, count=575, min=384.1ms, max=834.7ms
-  physics_step: mean=21.5ms, total=12.34s, count=575, min=13.8ms, max=97.6ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.1ms, max=7613.1ms
-  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5066.5ms, max=5066.5ms
-  task_sampling: mean=398.3ms, total=1.19s, count=3, min=307.2ms, max=557.4ms
-  task_specific_sample: mean=395.2ms, total=1.19s, count=3, min=304.6ms, max=553.8ms
-  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=431.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 02:08:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:08:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:08:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:08:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:08:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:08:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:08:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/11 02:08:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:08:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:08:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081657m
-[05/11 02:08:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:08:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:08:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:08:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79103009  0.95805076  0.0816567 ] yaw=-142.9deg
-[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:08:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88172365  0.72698023  0.0816567 ] yaw=-170.6deg
-[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:08:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94299116  0.64185457  0.0816567 ] yaw=-159.8deg
-[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:08:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:08:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.1ms, total=93.1ms
-[05/11 02:08:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.958, 0.082)
-[05/11 02:08:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg
-[05/11 02:08:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.028m
-[05/11 02:08:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:08:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:08:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:08:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:08:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:08:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 02:08:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 02:08:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:08:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:08:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 02:08:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True
-[05/11 02:08:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 91.532[deg]
-[05/11 02:08:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:10:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:11:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:11:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 02:11:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:11:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:11:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:11:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.23s (batch: 4.34s, save: 10.89s)
-[05/11 02:11:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
-  episode_total: mean=180.99s, total=180.99s, count=1, min=180992.5ms, max=180992.5ms
-  sensor_polling: mean=448.4ms, total=134.51s, count=300, min=387.1ms, max=836.3ms
-  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10886.3ms, max=10886.3ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=76.6ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.2ms, max=4344.2ms
-  task_sampling: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms
-  task_specific_sample: mean=350.1ms, total=350.1ms, count=1, min=350.1ms, max=350.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:11:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:11:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:11:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/11 02:11:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:11:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:11:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081934m
-[05/11 02:11:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:11:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:11:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:11:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91352809  0.92393993  0.08193438] yaw=-160.4deg
-[05/11 02:11:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:11:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:11:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms
-[05/11 02:11:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.924, 0.082)
-[05/11 02:11:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg
-[05/11 02:11:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:11:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:11:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 02:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 02:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:11:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 02:11:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True
-[05/11 02:11:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.531[m] 96.466[deg]
-[05/11 02:11:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:13:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:14:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:14:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 02:14:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:14:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:14:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:14:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.53s (batch: 3.91s, save: 9.62s)
-[05/11 02:14:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s:
-  episode_total: mean=182.17s, total=182.17s, count=1, min=182170.6ms, max=182170.6ms
-  sensor_polling: mean=445.0ms, total=133.49s, count=300, min=377.9ms, max=815.2ms
-  save_trajectories: mean=9.62s, total=9.62s, count=1, min=9623.3ms, max=9623.3ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.2ms, max=3910.2ms
-  task_sampling: mean=477.3ms, total=477.3ms, count=1, min=477.3ms, max=477.3ms
-  task_specific_sample: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:14:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:14:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:14:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:14:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:14:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:14:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:14:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/11 02:14:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:14:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:14:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007056m
-[05/11 02:14:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:14:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:14:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:14:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:14:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:14:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79033953  0.10587292  0.00705572] yaw=168.7deg
-[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:14:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10505323  1.13187672  0.00705572] yaw=-126.0deg
-[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98772093  0.73590272  0.00705572] yaw=-151.1deg
-[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:14:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:14:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=838.8ms, total=838.9ms
-[05/11 02:14:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.106, 0.007)
-[05/11 02:14:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg
-[05/11 02:14:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m
-[05/11 02:14:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:14:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:14:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:14:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:14:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:14:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 02:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.157s
-[05/11 02:14:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:14:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:14:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 02:14:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.886s, found feasible grasp: True
-[05/11 02:14:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.556[m] 84.650[deg]
-[05/11 02:14:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:17:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:17:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:17:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes
-[05/11 02:17:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:17:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:17:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:17:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.40s (batch: 3.84s, save: 10.56s)
-[05/11 02:17:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
-  episode_total: mean=189.22s, total=189.22s, count=1, min=189219.2ms, max=189219.2ms
-  sensor_polling: mean=449.7ms, total=134.91s, count=300, min=396.7ms, max=619.1ms
-  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10560.4ms, max=10560.4ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=41.1ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.8ms, max=3835.8ms
-  task_sampling: mean=1.19s, total=1.19s, count=1, min=1192.8ms, max=1192.8ms
-  task_specific_sample: mean=1.19s, total=1.19s, count=1, min=1188.5ms, max=1188.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:17:44 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:17:44 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:17:44 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
-[05/11 02:17:44 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5068.46s
-  House averages:
-  episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms
-  sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms
-  save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms
-  physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms
-  task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:17:44 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 02:17:44 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5068.46s
-  Worker averages:
-  episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms
-  sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms
-  save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms
-  physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms
-  save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms
-  task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms
-  task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms
-  scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms
-  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms
-  scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms
-  compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
-  compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms
-  scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms
-  scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
-  asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms
-  asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
-  asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
-  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
-  policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:17:47 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 02:17:47 INFO pipeline.py:1491] Success count: 12, Total count: 13
-[05/11 02:17:47 INFO pipeline.py:1492] Success rate: 92.31%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013
-==========================================
diff --git a/fridge_7/chunk_013/shard_3_of_4.log b/fridge_7/chunk_013/shard_3_of_4.log
deleted file mode 100644
index 14ececc072e13598edec7c4516397f9703c1d080..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_013/shard_3_of_4.log
+++ /dev/null
@@ -1,1765 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013
-  shard=3/4  seed=21303  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:28 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 01:31:28 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 01:31:28 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 01:31:28 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70cd8b031810>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21303,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 01:31:28 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 01:31:28 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 124028098224592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124028098224592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 124028098224592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124028098224592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 124028096560144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124028096560144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124028096545872 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124028096545872 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124028096545872 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124028096545872 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124028096560144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124028096560144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124028102066320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124028102066320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124028102069008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124028102069008 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 124028102069008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124028102069008 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124028102066320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124028102066320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 590be656a060 at 0x70cd8b22efd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 590be6597c00 at 0x70cd8b23ead0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 590be6597c00 at 0x70cd8b3c5590>
-[05/11 01:31:32 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036991m
-[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658824  0.94301909  0.03699079] yaw=-145.2deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60928348  0.46715654  0.03699079] yaw=189.8deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=70.9ms, retries=299.9ms, total=370.9ms
-[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.943, 0.037)
-[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg
-[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 01:32:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.291s
-[05/11 01:32:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:32:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:32:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.103s, found feasible grasp: True
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 83.451[deg]
-[05/11 01:32:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:34:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 01:35:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:35:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:35:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 01:35:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.74s (batch: 5.21s, save: 8.54s)
-[05/11 01:35:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.32s:
-  episode_total: mean=236.32s, total=236.32s, count=1, min=236323.7ms, max=236323.7ms
-  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=450.2ms, max=805.5ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8536.5ms, max=8536.5ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=18.2ms, max=109.4ms
-  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5207.7ms, max=5207.7ms
-  task_sampling: mean=4.32s, total=4.32s, count=1, min=4322.4ms, max=4322.4ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  task_specific_sample: mean=696.1ms, total=696.1ms, count=1, min=696.1ms, max=696.1ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  mj_forward_sync: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/11 01:35:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:35:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/11 01:35:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:35:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:35:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024994m
-[05/11 01:35:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:35:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:35:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1017253   1.08829437  0.02499427] yaw=-123.7deg
-[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96416722  0.09796324  0.02499427] yaw=161.8deg
-[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07448418  0.90395562  0.02499427] yaw=-144.4deg
-[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:35:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:35:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms
-[05/11 01:35:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.088, 0.025)
-[05/11 01:35:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.7 deg
-[05/11 01:35:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:35:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 01:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 01:35:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:35:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:35:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 01:35:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True
-[05/11 01:35:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 102.086[deg]
-[05/11 01:35:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:35:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:35:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/11 01:35:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:35:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:35:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051528m
-[05/11 01:35:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:35:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:35:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506172  0.94062126  0.05152806] yaw=-137.3deg
-[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67623001  0.24465709  0.05152806] yaw=156.0deg
-[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10976061  1.00077301  0.05152806] yaw=-133.2deg
-[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:35:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:35:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms
-[05/11 01:35:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.941, 0.052)
-[05/11 01:35:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
-[05/11 01:35:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:35:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 01:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True
-[05/11 01:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.397[m] 95.832[deg]
-[05/11 01:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:36:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:36:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:38:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:38:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.75s (batch: 4.81s, save: 8.93s)
-[05/11 01:38:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s:
-  episode_total: mean=99.59s, total=199.18s, count=2, min=2479.6ms, max=196702.1ms
-  sensor_polling: mean=497.2ms, total=149.17s, count=300, min=443.6ms, max=662.2ms
-  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8931.8ms, max=8931.8ms
-  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.8ms, max=73.6ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4814.2ms, max=4814.2ms
-  task_sampling: mean=429.2ms, total=858.5ms, count=2, min=377.9ms, max=480.5ms
-  task_specific_sample: mean=425.2ms, total=850.5ms, count=2, min=374.9ms, max=475.6ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.3ms, max=3.3ms
-  mj_forward_sync: mean=505.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 01:38:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:38:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/11 01:38:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:38:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:38:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090418m
-[05/11 01:38:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:38:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:38:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79927448  0.6537196   0.09041773] yaw=-160.4deg
-[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04563501  0.85332866  0.09041773] yaw=-142.7deg
-[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06372889  0.9617134   0.09041773] yaw=-144.2deg
-[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:38:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:38:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.1ms, total=240.1ms
-[05/11 01:38:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.654, 0.090)
-[05/11 01:38:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg
-[05/11 01:38:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:38:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 01:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 01:38:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:38:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:38:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
-[05/11 01:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 91.234[deg]
-[05/11 01:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:39:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:41:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:41:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:41:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:41:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:41:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:41:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:41:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.93s (batch: 4.66s, save: 8.27s)
-[05/11 01:41:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
-  episode_total: mean=188.36s, total=188.36s, count=1, min=188357.4ms, max=188357.4ms
-  sensor_polling: mean=473.7ms, total=142.12s, count=300, min=445.5ms, max=704.6ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8267.1ms, max=8267.1ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=16.7ms, max=39.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.5ms, max=4662.5ms
-  task_sampling: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms
-  task_specific_sample: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:41:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:41:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:41:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/11 01:41:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:41:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:41:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005203m
-[05/11 01:41:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:41:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:41:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63217493  0.67687139  0.00520305] yaw=-170.8deg
-[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81791308  0.74587446  0.00520305] yaw=-171.0deg
-[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77892566 -0.01597032  0.00520305] yaw=155.0deg
-[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:41:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:41:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms
-[05/11 01:41:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.677, 0.005)
-[05/11 01:41:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg
-[05/11 01:41:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:41:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:41:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:41:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 01:41:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 01:41:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:41:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:41:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:42:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True
-[05/11 01:42:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 76.441[deg]
-[05/11 01:42:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:43:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:44:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:44:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:44:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:44:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:45:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:45:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:45:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.34s (batch: 4.78s, save: 8.56s)
-[05/11 01:45:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
-  episode_total: mean=191.48s, total=191.48s, count=1, min=191477.9ms, max=191477.9ms
-  sensor_polling: mean=481.3ms, total=144.40s, count=300, min=453.9ms, max=692.7ms
-  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8564.0ms, max=8564.0ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.9ms, max=32.1ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4776.5ms, max=4776.5ms
-  task_sampling: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
-  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=439.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:45:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:45:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:45:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/11 01:45:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:45:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:45:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099007m
-[05/11 01:45:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:45:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:45:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79961582  0.50625642  0.0990071 ] yaw=-168.9deg
-[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70938538  0.75528475  0.0990071 ] yaw=-175.9deg
-[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98688352  0.9852422   0.0990071 ] yaw=-147.3deg
-[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:45:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:45:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms
-[05/11 01:45:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.506, 0.099)
-[05/11 01:45:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg
-[05/11 01:45:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:45:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:45:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:45:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 01:45:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 01:45:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:45:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:45:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:45:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
-[05/11 01:45:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 92.513[deg]
-[05/11 01:45:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:47:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:47:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:47:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:47:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:47:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/11 01:47:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.615s, found feasible grasp: True
-[05/11 01:47:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.111[deg]
-[05/11 01:47:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:47:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:47:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:48:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 01:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:48:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:48:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:48:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/11 01:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.441s, found feasible grasp: True
-[05/11 01:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.026[deg]
-[05/11 01:48:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:48:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:48:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:48:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:48:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:49:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:49:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:49:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.85s (batch: 5.13s, save: 8.72s)
-[05/11 01:49:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
-  episode_total: mean=231.47s, total=231.47s, count=1, min=231471.6ms, max=231471.6ms
-  sensor_polling: mean=507.1ms, total=152.14s, count=300, min=445.5ms, max=900.9ms
-  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.6ms, max=8717.6ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=13.7ms, max=64.8ms
-  save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5129.8ms, max=5129.8ms
-  task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms
-  task_specific_sample: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:49:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:49:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/11 01:49:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:49:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:49:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065834m
-[05/11 01:49:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:49:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:49:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98127483  1.27125665  0.06583383] yaw=-135.0deg
-[05/11 01:49:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:49:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69601389  0.32374337  0.06583383] yaw=169.7deg
-[05/11 01:49:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:49:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:49:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.9ms, total=190.0ms
-[05/11 01:49:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.271, 0.066)
-[05/11 01:49:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg
-[05/11 01:49:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.069m
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:49:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 01:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 01:49:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:49:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:49:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 01:49:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: False
-[05/11 01:49:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 01:49:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:49:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/11 01:49:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:49:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:49:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m
-[05/11 01:49:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:49:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:49:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.20458160e-01  9.41368600e-01  4.73418963e-04] yaw=-150.2deg
-[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.46385339e-01  7.84785046e-01  4.73418963e-04] yaw=-167.9deg
-[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.23934522e-01  1.75363987e-01  4.73418963e-04] yaw=157.1deg
-[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:49:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:49:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.0ms, total=297.0ms
-[05/11 01:49:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.941, 0.000)
-[05/11 01:49:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg
-[05/11 01:49:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:49:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 01:49:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/11 01:49:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:49:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:49:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/11 01:49:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True
-[05/11 01:49:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.671[m] 84.034[deg]
-[05/11 01:49:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:49:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:49:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:49:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/11 01:49:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:49:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:49:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066478m
-[05/11 01:49:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:49:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:49:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08243711  1.20809215  0.06647776] yaw=-134.1deg
-[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87923246  0.62176336  0.06647776] yaw=-174.1deg
-[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80276464  1.06920668  0.06647776] yaw=-147.7deg
-[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:49:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:49:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=630.3ms, total=630.4ms
-[05/11 01:49:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.208, 0.066)
-[05/11 01:49:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg
-[05/11 01:49:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
-[05/11 01:49:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:49:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:49:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:49:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:49:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 01:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
-[05/11 01:49:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:49:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:49:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/11 01:49:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.063s, found feasible grasp: True
-[05/11 01:49:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 93.039[deg]
-[05/11 01:49:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:50:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:50:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:51:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:51:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:51:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/11 01:51:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True
-[05/11 01:51:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.328[deg]
-[05/11 01:51:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:51:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:51:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:51:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/11 01:51:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:51:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:51:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082121m
-[05/11 01:51:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:51:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:51:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04203105  1.01662989  0.08212055] yaw=-142.0deg
-[05/11 01:51:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:51:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20385246  1.04899111  0.08212055] yaw=-138.6deg
-[05/11 01:51:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:51:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:51:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.2ms
-[05/11 01:51:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.017, 0.082)
-[05/11 01:51:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg
-[05/11 01:51:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.850m
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:51:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:51:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:51:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 01:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
-[05/11 01:51:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:51:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:51:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 01:51:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True
-[05/11 01:51:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.404[m] 83.126[deg]
-[05/11 01:51:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:52:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:52:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps
-[05/11 01:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.490s, found feasible grasp: True
-[05/11 01:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]
-[05/11 01:54:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:54:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:54:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
-[05/11 01:54:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:54:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:54:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068764m
-[05/11 01:54:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:54:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:54:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67195298  0.14584597  0.06876416] yaw=154.0deg
-[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65602324  0.22489266  0.06876416] yaw=176.2deg
-[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74381224 -0.01363215  0.06876416] yaw=141.8deg
-[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:54:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:54:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms
-[05/11 01:54:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.146, 0.069)
-[05/11 01:54:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg
-[05/11 01:54:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:54:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:54:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 01:54:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 01:54:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.405s, found feasible grasp: True
-[05/11 01:54:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.635[m] 85.157[deg]
-[05/11 01:54:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:55:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:55:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:56:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:57:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:57:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 01:57:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:57:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:57:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:57:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.08s (batch: 5.43s, save: 8.65s)
-[05/11 01:57:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=2.88s:
-  episode_total: mean=98.61s, total=493.03s, count=5, min=2253.4ms, max=187870.5ms
-  sensor_polling: mean=455.6ms, total=377.67s, count=829, min=382.7ms, max=917.1ms
-  physics_step: mean=21.6ms, total=17.95s, count=829, min=14.3ms, max=75.0ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8650.1ms, max=8650.1ms
-  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.7ms, max=5425.7ms
-  task_sampling: mean=576.2ms, total=2.88s, count=5, min=419.2ms, max=940.7ms
-  task_specific_sample: mean=572.8ms, total=2.86s, count=5, min=415.6ms, max=937.7ms
-  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=485.3us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/11 01:57:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:57:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/11 01:57:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:57:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:57:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018193m
-[05/11 01:57:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:57:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:57:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00445114  0.18134752  0.01819271] yaw=149.8deg
-[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9775352   0.8569201   0.01819271] yaw=-163.2deg
-[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90034711  0.55013614  0.01819271] yaw=-177.5deg
-[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:57:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:57:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms
-[05/11 01:57:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.181, 0.018)
-[05/11 01:57:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg
-[05/11 01:57:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:57:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 01:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/11 01:57:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:57:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:57:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:57:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True
-[05/11 01:57:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.330[m] 88.079[deg]
-[05/11 01:57:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:59:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:59:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:59:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:59:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps
-[05/11 01:59:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.372s, found feasible grasp: True
-[05/11 01:59:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.160[deg]
-[05/11 01:59:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:59:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:59:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:59:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
-[05/11 01:59:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.402s, found feasible grasp: True
-[05/11 01:59:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.928[deg]
-[05/11 01:59:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:59:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:59:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:59:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
-[05/11 01:59:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:59:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:59:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082688m
-[05/11 01:59:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:59:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:59:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94024171  0.96617682  0.0826884 ] yaw=-147.1deg
-[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97057085  0.67192628  0.0826884 ] yaw=-172.6deg
-[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88578268  0.49128565  0.0826884 ] yaw=-177.2deg
-[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:59:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:59:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.2ms
-[05/11 01:59:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.966, 0.083)
-[05/11 01:59:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg
-[05/11 01:59:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:59:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:59:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:59:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 01:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/11 01:59:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:59:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:59:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 01:59:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True
-[05/11 01:59:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.439[m] 79.377[deg]
-[05/11 01:59:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:00:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:02:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:02:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:02:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:02:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:02:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:02:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:02:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.79s (batch: 3.91s, save: 7.88s)
-[05/11 02:02:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.80s:
-  episode_total: mean=162.09s, total=324.17s, count=2, min=146501.3ms, max=177670.4ms
-  sensor_polling: mean=455.4ms, total=242.30s, count=532, min=383.3ms, max=826.7ms
-  physics_step: mean=21.0ms, total=11.16s, count=532, min=13.3ms, max=78.4ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.9ms, max=7875.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.2ms, max=3911.2ms
-  task_sampling: mean=398.2ms, total=796.4ms, count=2, min=385.3ms, max=411.1ms
-  task_specific_sample: mean=394.8ms, total=789.5ms, count=2, min=381.4ms, max=408.2ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=435.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:02:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:02:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
-[05/11 02:02:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:02:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:02:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019786m
-[05/11 02:02:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:02:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:02:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:02:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91040554  0.97664215  0.01978585] yaw=-151.5deg
-[05/11 02:02:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:02:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96920041  1.18382702  0.01978585] yaw=-137.0deg
-[05/11 02:02:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:02:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:02:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms
-[05/11 02:02:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.977, 0.020)
-[05/11 02:02:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg
-[05/11 02:02:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:02:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:02:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:02:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/11 02:02:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:02:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:02:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:02:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.320s, found feasible grasp: True
-[05/11 02:02:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.498[m] 88.305[deg]
-[05/11 02:02:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:03:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:05:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:05:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:05:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:05:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:05:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:05:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:05:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.77s (batch: 3.90s, save: 7.87s)
-[05/11 02:05:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
-  episode_total: mean=183.69s, total=183.69s, count=1, min=183689.9ms, max=183689.9ms
-  sensor_polling: mean=456.4ms, total=136.93s, count=300, min=386.2ms, max=956.0ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7870.0ms, max=7870.0ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.6ms, max=64.4ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.2ms, max=3896.2ms
-  task_sampling: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
-  task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:05:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:05:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:05:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/11 02:05:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:05:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:05:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026513m
-[05/11 02:05:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:05:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:05:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70421075  0.21497112  0.02651289] yaw=176.3deg
-[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82844029  0.73346053  0.02651289] yaw=-159.2deg
-[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8928578   0.36604001  0.02651289] yaw=168.8deg
-[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:05:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:05:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.7ms
-[05/11 02:05:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.215, 0.027)
-[05/11 02:05:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg
-[05/11 02:05:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:05:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:05:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:05:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 02:05:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:05:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:05:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:06:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True
-[05/11 02:06:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.562[m] 79.094[deg]
-[05/11 02:06:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:06:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:08:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:08:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:08:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:08:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:09:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:09:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:09:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.68s (batch: 3.96s, save: 7.73s)
-[05/11 02:09:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s:
-  episode_total: mean=183.89s, total=183.89s, count=1, min=183890.2ms, max=183890.2ms
-  sensor_polling: mean=454.8ms, total=136.43s, count=300, min=383.5ms, max=830.9ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7725.0ms, max=7725.0ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=13.6ms, max=57.4ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.1ms, max=3959.1ms
-  task_sampling: mean=351.3ms, total=351.3ms, count=1, min=351.3ms, max=351.3ms
-  task_specific_sample: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:09:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:09:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:09:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:09:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:09:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:09:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:09:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/11 02:09:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:09:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:09:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004930m
-[05/11 02:09:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:09:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:09:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:09:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01614377  0.16706538  0.00493024] yaw=150.1deg
-[05/11 02:09:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:09:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01214421  0.150388    0.00493024] yaw=157.7deg
-[05/11 02:09:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:09:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83070714  0.88286954  0.00493024] yaw=-152.5deg
-[05/11 02:09:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:09:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:09:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.4ms, total=70.4ms
-[05/11 02:09:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.167, 0.005)
-[05/11 02:09:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg
-[05/11 02:09:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.755m
-[05/11 02:09:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:09:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:09:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:09:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:09:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:09:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 02:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/11 02:09:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:09:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:09:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/11 02:09:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True
-[05/11 02:09:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.367[m] 102.007[deg]
-[05/11 02:09:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:09:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:09:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:10:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:11:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:11:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:11:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/11 02:11:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.411s, found feasible grasp: True
-[05/11 02:11:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.151[deg]
-[05/11 02:11:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:11:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:11:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:11:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:11:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:11:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:11:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/11 02:11:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True
-[05/11 02:11:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.811[deg]
-[05/11 02:11:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:11:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:12:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:12:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:12:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:12:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:12:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:12:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:12:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.57s (batch: 3.98s, save: 7.59s)
-[05/11 02:12:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.33s:
-  episode_total: mean=218.51s, total=218.51s, count=1, min=218513.5ms, max=218513.5ms
-  sensor_polling: mean=469.6ms, total=140.89s, count=300, min=408.0ms, max=816.1ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7592.4ms, max=7592.4ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.6ms, max=66.0ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.1ms, max=3979.1ms
-  task_sampling: mean=325.4ms, total=325.4ms, count=1, min=325.4ms, max=325.4ms
-  task_specific_sample: mean=322.0ms, total=322.0ms, count=1, min=322.0ms, max=322.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:12:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:12:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:12:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
-[05/11 02:12:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:12:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:12:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044415m
-[05/11 02:12:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:12:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:12:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77140581  0.05241508  0.04441512] yaw=152.8deg
-[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92259071  1.08767172  0.04441512] yaw=-131.3deg
-[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70458383  0.91251326  0.04441512] yaw=-147.9deg
-[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:12:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:12:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms
-[05/11 02:12:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.052, 0.044)
-[05/11 02:12:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.8 deg
-[05/11 02:12:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:12:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:12:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 02:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:12:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:12:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:12:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 02:12:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True
-[05/11 02:12:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 14 (originally 14): w/ 0.603[m] 93.759[deg]
-[05/11 02:12:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:15:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:15:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:15:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:15:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:15:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:15:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:15:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.09s (batch: 3.92s, save: 7.18s)
-[05/11 02:15:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
-  episode_total: mean=186.71s, total=186.71s, count=1, min=186708.6ms, max=186708.6ms
-  sensor_polling: mean=473.2ms, total=141.97s, count=300, min=404.4ms, max=989.0ms
-  save_trajectories: mean=7.18s, total=7.18s, count=1, min=7175.8ms, max=7175.8ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=58.3ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.7ms, max=3915.7ms
-  task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:15:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:15:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:15:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/11 02:15:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:15:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:15:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059628m
-[05/11 02:15:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:15:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:15:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07893819  0.90348727  0.05962831] yaw=-149.1deg
-[05/11 02:15:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:15:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms
-[05/11 02:15:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.903, 0.060)
-[05/11 02:15:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg
-[05/11 02:15:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.753m
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:15:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:15:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 02:15:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 02:15:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:15:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:15:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:15:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.605s, found feasible grasp: True
-[05/11 02:15:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 85.769[deg]
-[05/11 02:15:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:18:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:18:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:18:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes
-[05/11 02:18:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
-[05/11 02:18:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:18:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:18:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.22s (batch: 3.79s, save: 7.43s)
-[05/11 02:18:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
-  episode_total: mean=174.94s, total=174.94s, count=1, min=174943.0ms, max=174943.0ms
-  sensor_polling: mean=460.3ms, total=133.02s, count=289, min=385.9ms, max=722.4ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7425.8ms, max=7425.8ms
-  physics_step: mean=21.7ms, total=6.28s, count=289, min=13.4ms, max=51.5ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.3ms, max=3789.3ms
-  task_sampling: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
-  task_specific_sample: mean=450.4ms, total=450.4ms, count=1, min=450.4ms, max=450.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:18:49 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:18:49 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:18:49 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
-[05/11 02:18:49 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5141.37s
-  House averages:
-  episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms
-  sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms
-  save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms
-  physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms
-  save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms
-  task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms
-  task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:18:49 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 02:18:49 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5141.37s
-  Worker averages:
-  episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms
-  sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms
-  save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms
-  physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms
-  save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms
-  task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms
-  task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms
-  scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms
-  scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms
-  compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
-  compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms
-  scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms
-  scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
-  compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
-  asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
-  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms
-  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms
-  compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
-  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:18:51 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 02:18:51 INFO pipeline.py:1491] Success count: 12, Total count: 12
-[05/11 02:18:51 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013
-==========================================
diff --git a/fridge_7/chunk_013/shard_4_of_4.log b/fridge_7/chunk_013/shard_4_of_4.log
deleted file mode 100644
index e7026e9660bf1b5cfd22cd30f5768cc35f3be94d..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_013/shard_4_of_4.log
+++ /dev/null
@@ -1,1765 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013
-  shard=4/4  seed=21304  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:29 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 01:31:29 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 01:31:29 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 01:31:29 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x787db5d8fd90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21304,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 01:31:29 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 01:31:29 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 132481313527632 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132481313527632 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 132481313527632 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132481313527632 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 132481316961616 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132481316961616 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132481316959120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132481316959120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132481316959120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132481316959120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132481316961616 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132481316961616 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132481313628432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132481313628432 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132481313620240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132481313620240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 132481313620240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132481313620240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132481313628432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132481313628432 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5da10e98d270 at 0x787db6122c90>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5da10e9bae10 at 0x787db612ec50>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5da10e9bae10 at 0x787db60b50d0>
-[05/11 01:31:32 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
-[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096745m
-[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91514459  0.70968822  0.09674462] yaw=-172.7deg
-[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96692728  0.72929753  0.09674462] yaw=-170.9deg
-[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70788417  0.10207095  0.09674462] yaw=166.2deg
-[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:31:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:31:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=22.8ms, retries=264.2ms, total=286.9ms
-[05/11 01:31:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.710, 0.097)
-[05/11 01:31:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg
-[05/11 01:31:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
-[05/11 01:31:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:31:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:31:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:31:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:31:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:31:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.813s
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 01:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True
-[05/11 01:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.381[m] 89.921[deg]
-[05/11 01:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:32:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:32:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:34:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 01:35:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 01:35:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
-[05/11 01:35:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 01:35:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:35:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.13s (batch: 4.27s, save: 8.86s)
-[05/11 01:35:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.98s:
-  episode_total: mean=233.22s, total=233.22s, count=1, min=233216.6ms, max=233216.6ms
-  sensor_polling: mean=516.0ms, total=153.26s, count=297, min=449.7ms, max=910.3ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8855.0ms, max=8855.0ms
-  physics_step: mean=24.8ms, total=7.36s, count=297, min=18.2ms, max=69.3ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.3ms, max=4270.3ms
-  task_sampling: mean=3.98s, total=3.98s, count=1, min=3979.6ms, max=3979.6ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=670.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:35:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:35:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
-[05/11 01:35:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:35:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:35:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021089m
-[05/11 01:35:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:35:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:35:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0237606   0.81904354  0.02108882] yaw=-151.9deg
-[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84613182  0.66262588  0.02108882] yaw=-176.1deg
-[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87771129  0.74042412  0.02108882] yaw=-171.8deg
-[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:35:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:35:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms
-[05/11 01:35:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.819, 0.021)
-[05/11 01:35:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg
-[05/11 01:35:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.758m
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:35:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:35:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 01:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 01:35:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:35:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:35:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/11 01:35:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True
-[05/11 01:35:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.320[m] 90.756[deg]
-[05/11 01:35:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:35:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:36:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:37:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:38:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 01:38:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
-[05/11 01:38:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:38:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:38:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.90s (batch: 4.67s, save: 8.23s)
-[05/11 01:38:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.77s, total=189.77s, count=1, min=189771.6ms, max=189771.6ms
-  sensor_polling: mean=506.3ms, total=144.30s, count=285, min=447.1ms, max=722.6ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.3ms, max=8229.3ms
-  physics_step: mean=24.3ms, total=6.92s, count=285, min=15.2ms, max=61.0ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
-  task_sampling: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  task_specific_sample: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:38:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:38:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 01:38:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:38:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:38:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053195m
-[05/11 01:38:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:38:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:38:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82994202  0.22643865  0.05319456] yaw=154.2deg
-[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08443057  0.98622681  0.05319456] yaw=-136.7deg
-[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:38:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82916455  0.78750751  0.05319456] yaw=-166.7deg
-[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:38:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:38:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.7ms
-[05/11 01:38:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.226, 0.053)
-[05/11 01:38:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg
-[05/11 01:38:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:38:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:38:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 01:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/11 01:38:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:38:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:38:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:38:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True
-[05/11 01:38:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.507[m] 96.282[deg]
-[05/11 01:38:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:40:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:40:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:40:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:40:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/11 01:40:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.455s, found feasible grasp: True
-[05/11 01:40:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.273[deg]
-[05/11 01:41:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:41:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:41:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:41:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/11 01:41:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:41:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:41:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028423m
-[05/11 01:41:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:41:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:41:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99974987  0.17722536  0.02842251] yaw=146.2deg
-[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95510403  1.12082297  0.02842251] yaw=-133.8deg
-[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8810174   0.25697078  0.02842251] yaw=174.3deg
-[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:41:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:41:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.9ms
-[05/11 01:41:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.177, 0.028)
-[05/11 01:41:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg
-[05/11 01:41:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:41:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:41:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:41:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 01:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
-[05/11 01:41:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:41:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:41:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:41:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True
-[05/11 01:41:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.088[deg]
-[05/11 01:41:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:42:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:42:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:42:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:42:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:42:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:42:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
-[05/11 01:42:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True
-[05/11 01:42:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.226[deg]
-[05/11 01:42:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:43:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:43:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:43:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:43:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:43:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:43:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:43:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:43:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/11 01:43:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.483s, found feasible grasp: True
-[05/11 01:43:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.813[deg]
-[05/11 01:43:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:43:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:43:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:43:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 01:43:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:43:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:43:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095192m
-[05/11 01:43:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:43:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:43:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97544055  0.20613593  0.09519221] yaw=148.6deg
-[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83518246  0.45962411  0.09519221] yaw=177.8deg
-[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84207683  0.09891738  0.09519221] yaw=157.7deg
-[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:43:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:43:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms
-[05/11 01:43:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.206, 0.095)
-[05/11 01:43:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg
-[05/11 01:43:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:43:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 01:43:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
-[05/11 01:43:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:43:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:43:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
-[05/11 01:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.392[m] 105.634[deg]
-[05/11 01:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:44:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:45:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:45:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:45:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/11 01:45:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.468s, found feasible grasp: True
-[05/11 01:45:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg]
-[05/11 01:45:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:45:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:45:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:45:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
-[05/11 01:45:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:45:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:45:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019247m
-[05/11 01:45:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:45:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:45:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1748546   1.10011804  0.01924706] yaw=-123.4deg
-[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:45:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85939754  0.55980857  0.01924706] yaw=-179.5deg
-[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62713656  0.49240393  0.01924706] yaw=-177.4deg
-[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:45:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:45:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms
-[05/11 01:45:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.100, 0.019)
-[05/11 01:45:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg
-[05/11 01:45:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:45:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:45:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 01:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 01:45:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:45:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:45:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 01:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
-[05/11 01:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.397[m] 85.887[deg]
-[05/11 01:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:46:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:47:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:47:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:47:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:47:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:47:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:47:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/11 01:47:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True
-[05/11 01:47:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.445[deg]
-[05/11 01:47:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 01:47:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:47:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:47:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 01:47:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:47:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:47:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053068m
-[05/11 01:47:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:47:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:47:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:47:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86918567  0.14626203  0.05306787] yaw=154.4deg
-[05/11 01:47:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:47:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65037721  0.30026888  0.05306787] yaw=173.7deg
-[05/11 01:47:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:47:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:47:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms
-[05/11 01:47:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.146, 0.053)
-[05/11 01:47:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg
-[05/11 01:47:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:47:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:47:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:47:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 01:47:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/11 01:47:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:47:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:47:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 01:47:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True
-[05/11 01:47:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 102.421[deg]
-[05/11 01:47:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:47:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:47:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:48:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:49:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:50:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:50:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:50:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:50:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:50:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 01:50:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:50:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:50:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
-[05/11 01:50:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True
-[05/11 01:50:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.221[deg]
-[05/11 01:50:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:50:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:50:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
-[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 01:50:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:50:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:50:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.102s, found 78 non-colliding grasps
-[05/11 01:50:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.796s, found feasible grasp: True
-[05/11 01:50:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.222[deg]
-[05/11 01:50:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:50:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 01:50:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 01:50:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 01:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 01:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 01:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 01:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:51:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:51:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:51:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:51:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 01:51:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:51:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:51:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:51:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.28s, save: 8.13s)
-[05/11 01:51:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=2.31s:
-  episode_total: mean=156.90s, total=784.52s, count=5, min=100760.1ms, max=230806.7ms
-  sensor_polling: mean=493.6ms, total=598.29s, count=1212, min=429.7ms, max=1049.2ms
-  physics_step: mean=23.7ms, total=28.76s, count=1212, min=14.2ms, max=85.4ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.3ms, max=4283.3ms
-  task_sampling: mean=462.7ms, total=2.31s, count=5, min=410.6ms, max=509.2ms
-  task_specific_sample: mean=458.8ms, total=2.29s, count=5, min=406.3ms, max=505.5ms
-  scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=485.5us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/11 01:51:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:51:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:51:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 01:51:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:51:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:51:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032304m
-[05/11 01:51:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:51:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:51:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:51:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96908749  0.80568417  0.03230376] yaw=-156.5deg
-[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:51:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713437  0.2353576   0.03230376] yaw=152.2deg
-[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9496352   0.90947818  0.03230376] yaw=-143.3deg
-[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:51:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:51:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms
-[05/11 01:51:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.806, 0.032)
-[05/11 01:51:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg
-[05/11 01:51:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:51:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:51:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 01:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
-[05/11 01:51:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:51:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:51:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 01:51:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True
-[05/11 01:51:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 90.348[deg]
-[05/11 01:51:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:52:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:54:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:54:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:54:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 01:54:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
-[05/11 01:54:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:54:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:54:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.17s (batch: 4.44s, save: 9.72s)
-[05/11 01:54:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s:
-  episode_total: mean=181.95s, total=181.95s, count=1, min=181945.6ms, max=181945.6ms
-  sensor_polling: mean=452.5ms, total=135.29s, count=299, min=387.4ms, max=661.8ms
-  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.3ms, max=9723.3ms
-  physics_step: mean=21.0ms, total=6.27s, count=299, min=13.6ms, max=48.4ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.8ms, max=4441.8ms
-  task_sampling: mean=344.1ms, total=344.1ms, count=1, min=344.1ms, max=344.1ms
-  task_specific_sample: mean=340.6ms, total=340.6ms, count=1, min=340.6ms, max=340.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:54:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:54:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/11 01:54:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:54:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:54:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095887m
-[05/11 01:54:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:54:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:54:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68537288  0.86644215  0.09588694] yaw=-148.2deg
-[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78697182  1.00826177  0.09588694] yaw=-149.3deg
-[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 01:54:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75505762 -0.03542559  0.09588694] yaw=149.4deg
-[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 01:54:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:54:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.4ms
-[05/11 01:54:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.866, 0.096)
-[05/11 01:54:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
-[05/11 01:54:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:54:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:54:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:54:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 01:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/11 01:54:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:54:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:54:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 01:54:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True
-[05/11 01:54:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.720[m] 92.576[deg]
-[05/11 01:54:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:56:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 01:57:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 01:57:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:57:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 01:57:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 01:57:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 01:57:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 01:57:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.58s (batch: 3.62s, save: 9.95s)
-[05/11 01:57:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
-  episode_total: mean=178.96s, total=178.96s, count=1, min=178958.0ms, max=178958.0ms
-  sensor_polling: mean=443.3ms, total=132.99s, count=300, min=379.3ms, max=870.5ms
-  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9951.2ms, max=9951.2ms
-  physics_step: mean=20.4ms, total=6.11s, count=300, min=13.7ms, max=56.4ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
-  task_sampling: mean=392.7ms, total=392.7ms, count=1, min=392.7ms, max=392.7ms
-  task_specific_sample: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=571.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 01:57:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:57:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:57:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 01:57:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:57:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:57:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071542m
-[05/11 01:57:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:57:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:57:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:54 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.4ms
-[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 01:57:54 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 01:57:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 01:57:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 01:57:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 01:57:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 01:57:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 01:57:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094285m
-[05/11 01:57:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 01:57:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 01:57:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 01:57:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96119309  0.7485277   0.09428501] yaw=-158.1deg
-[05/11 01:57:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 01:57:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 01:57:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=159.0ms
-[05/11 01:57:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.749, 0.094)
-[05/11 01:57:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg
-[05/11 01:57:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
-[05/11 01:57:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 01:57:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 01:57:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 01:57:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 01:57:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 01:57:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 01:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
-[05/11 01:57:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 01:57:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 01:57:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 01:57:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.653s, found feasible grasp: True
-[05/11 01:57:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 94.829[deg]
-[05/11 01:57:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 01:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 01:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 01:58:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 01:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 01:58:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:00:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:00:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:00:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 02:00:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:00:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:00:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:00:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.36s (batch: 3.52s, save: 7.83s)
-[05/11 02:01:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
-  episode_total: mean=92.34s, total=184.68s, count=2, min=216.0ms, max=184463.6ms
-  sensor_polling: mean=458.0ms, total=137.39s, count=300, min=403.5ms, max=922.0ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7834.2ms, max=7834.2ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.7ms, max=70.3ms
-  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3522.4ms, max=3522.4ms
-  task_specific_sample: mean=313.9ms, total=627.9ms, count=2, min=209.2ms, max=418.6ms
-  task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
-  task_sampling_failed: mean=216.0ms, total=216.0ms, count=1, min=216.0ms, max=216.0ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=529.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:01:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:01:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:01:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/11 02:01:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:01:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:01:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000024m
-[05/11 02:01:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:01:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:01:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-7.79555963e-01  2.12117913e-01  2.41189598e-05] yaw=171.3deg
-[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.67882690e-01  7.57167543e-01  2.41189598e-05] yaw=-160.8deg
-[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.74121758e-01  4.09235639e-01  2.41189598e-05] yaw=176.6deg
-[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:01:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:01:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.7ms
-[05/11 02:01:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.212, 0.000)
-[05/11 02:01:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg
-[05/11 02:01:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:01:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:01:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:01:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/11 02:01:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:01:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:01:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps
-[05/11 02:01:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True
-[05/11 02:01:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 100.009[deg]
-[05/11 02:01:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:02:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:03:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:03:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:03:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 02:03:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:04:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:04:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:04:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.31s (batch: 3.70s, save: 7.61s)
-[05/11 02:04:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
-  episode_total: mean=185.20s, total=185.20s, count=1, min=185196.0ms, max=185196.0ms
-  sensor_polling: mean=454.4ms, total=136.32s, count=300, min=388.3ms, max=845.9ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.2ms, max=7613.2ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.9ms, max=81.4ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.8ms, max=3695.8ms
-  task_sampling: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
-  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:04:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:04:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:04:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/11 02:04:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:04:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:04:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086768m
-[05/11 02:04:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:04:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:04:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93860989  0.80077422  0.08676849] yaw=-161.9deg
-[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.171801    1.03965258  0.08676849] yaw=-128.1deg
-[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96746457  0.18159077  0.08676849] yaw=147.2deg
-[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:04:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:04:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=144.0ms
-[05/11 02:04:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.801, 0.087)
-[05/11 02:04:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg
-[05/11 02:04:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:04:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 02:04:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True
-[05/11 02:04:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 89.680[deg]
-[05/11 02:04:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:04:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:06:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:06:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:06:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 02:06:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:07:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:07:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:07:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.25s, save: 8.26s)
-[05/11 02:07:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.16s, total=183.16s, count=1, min=183160.7ms, max=183160.7ms
-  sensor_polling: mean=455.7ms, total=136.72s, count=300, min=400.4ms, max=805.3ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.2ms, max=8261.2ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=14.2ms, max=58.2ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.0ms, max=4252.0ms
-  task_sampling: mean=413.3ms, total=413.3ms, count=1, min=413.3ms, max=413.3ms
-  task_specific_sample: mean=409.6ms, total=409.6ms, count=1, min=409.6ms, max=409.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=528.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:07:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:07:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:07:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
-[05/11 02:07:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:07:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:07:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060473m
-[05/11 02:07:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:07:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:07:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93788413  0.92110969  0.06047299] yaw=-145.9deg
-[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99726076  0.81941412  0.06047299] yaw=-156.1deg
-[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65390642  0.33703063  0.06047299] yaw=180.3deg
-[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:07:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:07:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms
-[05/11 02:07:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.921, 0.060)
-[05/11 02:07:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
-[05/11 02:07:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:07:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:07:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:07:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 02:07:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:07:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:07:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:07:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
-[05/11 02:07:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 85.709[deg]
-[05/11 02:07:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:10:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:10:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 02:10:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:10:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:10:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:10:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.48s (batch: 3.91s, save: 11.57s)
-[05/11 02:10:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
-  episode_total: mean=182.15s, total=182.15s, count=1, min=182152.2ms, max=182152.2ms
-  sensor_polling: mean=453.9ms, total=136.16s, count=300, min=395.6ms, max=746.5ms
-  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.6ms, max=11567.6ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=16.9ms, max=49.5ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.3ms, max=3909.3ms
-  task_sampling: mean=435.4ms, total=435.4ms, count=1, min=435.4ms, max=435.4ms
-  task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=726.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:10:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:10:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:10:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/11 02:10:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:10:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:10:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065793m
-[05/11 02:10:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:10:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:10:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91874926  0.53316048  0.06579291] yaw=-180.9deg
-[05/11 02:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:10:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:10:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms
-[05/11 02:10:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.533, 0.066)
-[05/11 02:10:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg
-[05/11 02:10:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:10:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:10:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 02:10:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:10:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:10:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:10:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.430s, found feasible grasp: True
-[05/11 02:10:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.360[m] 87.138[deg]
-[05/11 02:10:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:11:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:12:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:13:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:13:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes
-[05/11 02:13:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
-[05/11 02:13:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:13:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013
-[05/11 02:13:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.22s (batch: 3.75s, save: 9.47s)
-[05/11 02:13:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.47s, total=183.47s, count=1, min=183472.3ms, max=183472.3ms
-  sensor_polling: mean=460.3ms, total=134.87s, count=293, min=402.7ms, max=1042.2ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9470.1ms, max=9470.1ms
-  physics_step: mean=23.1ms, total=6.76s, count=293, min=14.4ms, max=86.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3746.7ms, max=3746.7ms
-  task_sampling: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms
-  task_specific_sample: mean=405.3ms, total=405.3ms, count=1, min=405.3ms, max=405.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:13:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:13:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:13:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:13:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:13:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:13:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:13:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/11 02:13:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:13:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:13:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034407m
-[05/11 02:13:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:13:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:13:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:13:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12066675  0.97592577  0.03440719] yaw=-141.2deg
-[05/11 02:13:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:13:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:13:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=655.3ms, total=655.4ms
-[05/11 02:13:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.121, 0.976, 0.034)
-[05/11 02:13:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg
-[05/11 02:13:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.763m
-[05/11 02:13:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:13:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:13:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:13:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:13:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 02:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
-[05/11 02:13:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:13:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:13:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps
-[05/11 02:13:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True
-[05/11 02:13:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.999[deg]
-[05/11 02:13:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:13:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:15:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:15:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:15:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:15:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:15:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/11 02:15:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.493s, found feasible grasp: True
-[05/11 02:15:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.353[deg]
-[05/11 02:15:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:15:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:15:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:15:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/11 02:15:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:15:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:15:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053524m
-[05/11 02:15:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:15:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:15:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:54 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.6ms, total=158.6ms
-[05/11 02:15:54 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 02:15:54 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 02:15:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:15:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:15:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
-[05/11 02:15:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:15:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:15:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046928m
-[05/11 02:15:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:15:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:15:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93058141  0.39720608  0.04692755] yaw=163.1deg
-[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88668265  1.09387563  0.04692755] yaw=-144.7deg
-[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00789682  1.09355059  0.04692755] yaw=-135.9deg
-[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:15:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:15:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms
-[05/11 02:15:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.047)
-[05/11 02:15:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg
-[05/11 02:15:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:15:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:15:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 02:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
-[05/11 02:15:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:15:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
-[05/11 02:15:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True
-[05/11 02:15:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.333[m] 86.966[deg]
-[05/11 02:15:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:16:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:17:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:17:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:17:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:17:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
-[05/11 02:17:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.878s, found feasible grasp: True
-[05/11 02:17:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]
-[05/11 02:17:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:17:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:17:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013
-[05/11 02:17:42 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes
-[05/11 02:17:42 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5052.42s
-  House averages:
-  episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms
-  sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms
-  physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms
-  save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms
-  save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms
-  task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms
-  task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:17:42 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 02:17:42 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5052.42s
-  Worker averages:
-  episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms
-  sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms
-  physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms
-  save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms
-  save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms
-  task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms
-  task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms
-  scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms
-  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms
-  compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms
-  task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms
-  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
-  scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms
-  scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms
-  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
-  asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
-  scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms
-  asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms
-  mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms
-  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
-  asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
-  policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 02:17:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 02:17:45 INFO pipeline.py:1491] Success count: 10, Total count: 10
-[05/11 02:17:45 INFO pipeline.py:1492] Success rate: 100.00%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013
-==========================================
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-05/11 02:21:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 02:21:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 02:21:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 02:21:35 INFO: {'batch_num': 1,
- 'benchmark_path': None,
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-                                'fov_noise_degrees': None,
-                                'is_warped': False,
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-                                'name': 'exo_camera_1',
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-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
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-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
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- 'end_on_success': False,
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-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
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-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
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-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 02:21:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 02:21:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 02:21:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 02:21:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 02:21:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 02:21:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 02:21:35 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7183aa28b190>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21403,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 02:21:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 02:21:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 02:21:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 02:21:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 02:21:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 02:21:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 02:21:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 02:21:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 02:21:36 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7676e4554950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21404,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 02:21:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 02:21:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 02:21:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 02:21:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 02:21:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 02:21:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 02:21:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 02:21:36 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f74bede35d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21402,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 02:21:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 02:21:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 02:21:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 02:21:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 02:21:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 02:21:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 02:21:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 02:21:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 02:21:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 02:21:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 02:21:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:21:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:21:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:21:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:21:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006254m	[env.py: 870]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:21:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83598799  0.77003849  0.00625384] yaw=-161.6deg	[env.py: 1019]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78380528  0.15157504  0.00625384] yaw=169.3deg	[env.py: 1019]
-05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90803158  1.05521122  0.00625384] yaw=-152.5deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=152.2ms, total=166.4ms	[env.py: 1075]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.770, 0.006)	[env.py: 1079]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 02:21:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013416m	[env.py: 870]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:21:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69721468  0.10266618  0.01341643] yaw=167.0deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80623151  1.05066672  0.01341643] yaw=-153.0deg	[env.py: 1019]
-05/11 02:21:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 02:21:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01906921  1.25750828  0.01341643] yaw=-122.1deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=42.8ms, retries=200.3ms, total=243.2ms	[env.py: 1075]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.103, 0.013)	[env.py: 1079]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 02:21:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 02:21:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023323m	[env.py: 870]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:21:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 02:21:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054232m	[env.py: 870]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:21:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7266121   0.36617649  0.02332285] yaw=180.9deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69300933  0.2800372   0.05423242] yaw=160.5deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88435463  0.8255364   0.05423242] yaw=-148.1deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90941967  0.54402711  0.05423242] yaw=-169.2deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.9ms, retries=181.0ms, total=196.9ms	[env.py: 1075]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.280, 0.054)	[env.py: 1079]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg	[env.py: 1082]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04214117  1.21163419  0.02332285] yaw=-130.3deg	[env.py: 1019]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83310058  0.7783996   0.02332285] yaw=-163.7deg	[env.py: 1019]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=264.0ms, total=286.2ms	[env.py: 1075]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.366, 0.023)	[env.py: 1079]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg	[env.py: 1082]
-05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:21:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:21:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:22:02 INFO: [Worker 0] Warmed up parallel IK solver in 23.193s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:22:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:22:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:22:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 24.642s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.042s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.510s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 82.251[deg]	[grasp_sample.py: 539]
-05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.610[m] 95.830[deg]	[grasp_sample.py: 539]
-05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 91.126[deg]	[grasp_sample.py: 539]
-05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.549[m] 90.079[deg]	[grasp_sample.py: 539]
-05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:22:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:22:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:22:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:22:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:23:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:23:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:23:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:23:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:23:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:23:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:23:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:23:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.081s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:23:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.308[deg]	[grasp_sample.py: 539]
-05/11 02:23:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:23:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:23:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:23:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:24:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:24:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:24:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:24:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:24:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:24:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:24:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:24:29 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.957[deg]	[grasp_sample.py: 539]
-05/11 02:24:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:24:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:24:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:33 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:24:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:24:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:24:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:24:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 02:24:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:24:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:24:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:24:50 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.189s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:24:50 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.422[deg]	[grasp_sample.py: 539]
-05/11 02:24:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:24:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:24:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:24:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:24:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:24:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:24:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:24:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:24:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:24:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 02:24:58 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.24s:
-  episode_total: mean=201.30s, total=201.30s, count=1, min=201301.4ms, max=201301.4ms
-  sensor_polling: mean=445.0ms, total=133.50s, count=300, min=377.0ms, max=696.5ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=12.6ms, max=45.3ms
-  task_sampling: mean=3.24s, total=3.24s, count=1, min=3236.2ms, max=3236.2ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  task_specific_sample: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=417.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:24:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:24:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:24:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:24:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072221m	[env.py: 870]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84476854  0.98224384  0.07222075] yaw=-161.1deg	[env.py: 1019]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82597604  0.2837376   0.07222075] yaw=157.0deg	[env.py: 1019]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.6ms	[env.py: 1075]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.982, 0.072)	[env.py: 1079]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
-05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:25:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:25:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.221s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:25:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.592[m] 73.718[deg]	[grasp_sample.py: 539]
-05/11 02:25:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:25:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:25:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:25:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:25:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.77s (batch: 3.92s, save: 7.85s)	[pipeline.py: 300]
-05/11 02:25:04 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s:
-  episode_total: mean=209.30s, total=209.30s, count=1, min=209300.8ms, max=209300.8ms
-  sensor_polling: mean=460.5ms, total=138.14s, count=300, min=390.3ms, max=845.4ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=16.8ms, max=65.5ms
-  task_sampling: mean=3.94s, total=3.94s, count=1, min=3935.3ms, max=3935.3ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.9ms, max=3921.9ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  task_specific_sample: mean=443.3ms, total=443.3ms, count=1, min=443.3ms, max=443.3ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  mj_forward_sync: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  policy_setup: mean=42.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:25:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.78s (batch: 4.03s, save: 7.75s)	[pipeline.py: 300]
-05/11 02:25:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s:
-  episode_total: mean=210.33s, total=210.33s, count=1, min=210325.4ms, max=210325.4ms
-  sensor_polling: mean=461.6ms, total=138.48s, count=300, min=389.0ms, max=749.3ms
-  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7748.4ms, max=7748.4ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.9ms, max=62.0ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.5ms, max=4029.5ms
-  task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  task_specific_sample: mean=587.4ms, total=587.4ms, count=1, min=587.4ms, max=587.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=42.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:25:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:25:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:25:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:25:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:25:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:25:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:25:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:25:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:25:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095102m	[env.py: 870]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:25:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88156688  0.15260032  0.09510248] yaw=161.1deg	[env.py: 1019]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76970217  0.4470166   0.09510248] yaw=167.4deg	[env.py: 1019]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9531869   0.78017159  0.09510248] yaw=-163.2deg	[env.py: 1019]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.1ms	[env.py: 1075]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.153, 0.095)	[env.py: 1079]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:25:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:25:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:25:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:25:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:25:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:25:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.472[m] 99.496[deg]	[grasp_sample.py: 539]
-05/11 02:25:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:25:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039435m	[env.py: 870]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93086443  0.58635552  0.0394351 ] yaw=-163.6deg	[env.py: 1019]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18172693  1.12962116  0.0394351 ] yaw=-131.4deg	[env.py: 1019]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73843347  0.63843656  0.0394351 ] yaw=-171.2deg	[env.py: 1019]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.1ms	[env.py: 1075]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.586, 0.039)	[env.py: 1079]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg	[env.py: 1082]
-05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:25:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:25:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:25:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:25:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 83.040[deg]	[grasp_sample.py: 539]
-05/11 02:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:25:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:25:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:25:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:25:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 4.04s, save: 9.47s)	[pipeline.py: 300]
-05/11 02:25:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.12s:
-  episode_total: mean=224.19s, total=224.19s, count=1, min=224189.0ms, max=224189.0ms
-  sensor_polling: mean=462.0ms, total=138.61s, count=300, min=399.2ms, max=713.3ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9467.6ms, max=9467.6ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=56.1ms
-  task_sampling: mean=4.12s, total=4.12s, count=1, min=4119.6ms, max=4119.6ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4043.8ms, max=4043.8ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  task_specific_sample: mean=662.0ms, total=662.0ms, count=1, min=662.0ms, max=662.0ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=695.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=51.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/11 02:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:25:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:25:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:25:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:25:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014185m	[env.py: 870]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82171138  0.81580547  0.01418464] yaw=-152.8deg	[env.py: 1019]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95659678  1.09017723  0.01418464] yaw=-146.1deg	[env.py: 1019]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89995895  1.12767956  0.01418464] yaw=-146.9deg	[env.py: 1019]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:25:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.3ms	[env.py: 1075]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.816, 0.014)	[env.py: 1079]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
-05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
-05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:25:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:25:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:25:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:25:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:25:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:25:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:25:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 89.867[deg]	[grasp_sample.py: 539]
-05/11 02:25:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:25:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:25:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:25:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:25:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:26:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:26:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:26:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:26:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:26:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:26:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:26:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:27:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:27:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:27:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:27:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:27:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:27:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:27:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.513[deg]	[grasp_sample.py: 539]
-05/11 02:27:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:27:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:27:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:27:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:27:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:27:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016693m	[env.py: 870]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8933712   0.45328484  0.01669323] yaw=179.4deg	[env.py: 1019]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94479764  0.41826438  0.01669323] yaw=177.6deg	[env.py: 1019]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67350964  0.14058239  0.01669323] yaw=165.0deg	[env.py: 1019]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.6ms	[env.py: 1075]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.453, 0.017)	[env.py: 1079]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
-05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:27:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:27:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:27:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:27:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:27:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:27:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:27:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.610[deg]	[grasp_sample.py: 539]
-05/11 02:27:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:27:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:27:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:27:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:27:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:27:47 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:27:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:27:47 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/11 02:27:47 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:27:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:27:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:27:49 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:27:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:27:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:27:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:27:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 10.77s (batch: 3.45s, save: 7.32s)	[pipeline.py: 300]
-05/11 02:27:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:27:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
-  episode_total: mean=171.49s, total=171.49s, count=1, min=171491.8ms, max=171491.8ms
-  sensor_polling: mean=466.4ms, total=131.53s, count=282, min=391.0ms, max=761.7ms
-  save_trajectories: mean=7.32s, total=7.32s, count=1, min=7320.6ms, max=7320.6ms
-  physics_step: mean=22.6ms, total=6.37s, count=282, min=13.9ms, max=60.6ms
-  save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3453.3ms, max=3453.3ms
-  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
-  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=869.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:27:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:27:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:27:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.51s (batch: 4.14s, save: 7.37s)	[pipeline.py: 300]
-05/11 02:27:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=180.27s, total=180.27s, count=1, min=180273.2ms, max=180273.2ms
-  sensor_polling: mean=452.6ms, total=135.78s, count=300, min=372.3ms, max=833.7ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.4ms, max=7368.4ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=13.9ms, max=50.2ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.7ms, max=4142.7ms
-  task_sampling: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms
-  task_specific_sample: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=377.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:28:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:28:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:28:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:28:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003502m	[env.py: 870]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76730007  0.59920733  0.00350183] yaw=-177.2deg	[env.py: 1019]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.599, 0.004)	[env.py: 1079]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg	[env.py: 1082]
-05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:28:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:28:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:28:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:28:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:28:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:28:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:28:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:28:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087004m	[env.py: 870]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:28:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75258192  0.50092627  0.0870044 ] yaw=-170.4deg	[env.py: 1019]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74706423  0.3895745   0.0870044 ] yaw=163.3deg	[env.py: 1019]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85598613  0.22216448  0.0870044 ] yaw=152.3deg	[env.py: 1019]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:28:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.3ms	[env.py: 1075]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.501, 0.087)	[env.py: 1079]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg	[env.py: 1082]
-05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:28:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.480[m] 81.781[deg]	[grasp_sample.py: 539]
-05/11 02:28:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:28:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:28:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:28:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:28:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:28:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:28:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 76.426[deg]	[grasp_sample.py: 539]
-05/11 02:28:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:28:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:28:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:28:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:28:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:28:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:28:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:28:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.01s (batch: 3.62s, save: 9.39s)	[pipeline.py: 300]
-05/11 02:28:20 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
-  episode_total: mean=179.03s, total=179.03s, count=1, min=179026.3ms, max=179026.3ms
-  sensor_polling: mean=456.5ms, total=136.95s, count=300, min=389.3ms, max=731.4ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9392.6ms, max=9392.6ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=16.3ms, max=54.1ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3621.9ms, max=3621.9ms
-  task_sampling: mean=411.1ms, total=411.1ms, count=1, min=411.1ms, max=411.1ms
-  task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  scene_randomize: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:28:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:28:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:28:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:28:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:28:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:28:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053803m	[env.py: 870]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:28:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98911871  1.08409145  0.05380325] yaw=-133.5deg	[env.py: 1019]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6849669   0.57716772  0.05380325] yaw=-173.9deg	[env.py: 1019]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62339229  0.59432756  0.05380325] yaw=-169.1deg	[env.py: 1019]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:28:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms	[env.py: 1075]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.084, 0.054)	[env.py: 1079]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg	[env.py: 1082]
-05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:28:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:28:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:28:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:28:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:28:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:28:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:28:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.067s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:28:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 83.804[deg]	[grasp_sample.py: 539]
-05/11 02:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:28:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:28:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:28:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:28:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:29:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:29:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 02:29:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:29:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:29:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:29:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:29:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.181[deg]	[grasp_sample.py: 539]
-05/11 02:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:29:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:29:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:29:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:30:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:30:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:30:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:30:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:30:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:30:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.04s (batch: 3.85s, save: 9.19s)	[pipeline.py: 300]
-05/11 02:30:22 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s:
-  episode_total: mean=156.91s, total=313.81s, count=2, min=130150.6ms, max=183663.1ms
-  sensor_polling: mean=457.3ms, total=243.28s, count=532, min=372.4ms, max=890.7ms
-  physics_step: mean=23.2ms, total=12.32s, count=532, min=14.3ms, max=58.7ms
-  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9185.7ms, max=9185.7ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms
-  task_sampling: mean=337.9ms, total=675.7ms, count=2, min=311.7ms, max=364.1ms
-  task_specific_sample: mean=334.3ms, total=668.6ms, count=2, min=308.1ms, max=360.5ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
-  mj_forward_sync: mean=475.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:30:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:30:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:30:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:30:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:30:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:30:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098463m	[env.py: 870]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:30:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=160.4ms, total=160.5ms	[env.py: 1105]
-05/11 02:30:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/11 02:30:24 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/11 02:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:30:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:30:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005358m	[env.py: 870]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89992377  0.43340667  0.00535837] yaw=166.9deg	[env.py: 1019]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70849238  0.4744366   0.00535837] yaw=182.9deg	[env.py: 1019]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms	[env.py: 1075]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.433, 0.005)	[env.py: 1079]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
-05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:30:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:30:26 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:30:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:30:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:30:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:30:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:30:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 85.675[deg]	[grasp_sample.py: 539]
-05/11 02:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:30:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:30:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:31 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:30:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:30:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:30:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:30:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:30:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:30:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.169[deg]	[grasp_sample.py: 539]
-05/11 02:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:30:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:30:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:30:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:30:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:30:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:30:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:30:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:30:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:30:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:30:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:30:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:30:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.533[deg]	[grasp_sample.py: 539]
-05/11 02:30:53 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:30:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:30:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:30:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:30:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:30:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030251m	[env.py: 870]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07400456  0.90703004  0.03025106] yaw=-155.5deg	[env.py: 1019]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.783973    0.44205729  0.03025106] yaw=176.4deg	[env.py: 1019]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96821675  0.2777833   0.03025106] yaw=169.4deg	[env.py: 1019]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:30:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.6ms, total=80.6ms	[env.py: 1075]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.907, 0.030)	[env.py: 1079]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg	[env.py: 1082]
-05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:30:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:30:55 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:30:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:30:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:30:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:30:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:30:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 88.262[deg]	[grasp_sample.py: 539]
-05/11 02:30:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:30:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:30:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:30:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:30:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:31:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:31:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:31:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.62s (batch: 3.83s, save: 7.80s)	[pipeline.py: 300]
-05/11 02:31:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.65s, total=181.65s, count=1, min=181652.1ms, max=181652.1ms
-  sensor_polling: mean=462.9ms, total=138.88s, count=300, min=391.5ms, max=765.7ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7797.2ms, max=7797.2ms
-  physics_step: mean=23.5ms, total=7.04s, count=300, min=13.5ms, max=55.7ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.9ms, max=3825.9ms
-  task_sampling: mean=474.8ms, total=474.8ms, count=1, min=474.8ms, max=474.8ms
-  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:31:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:31:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:31:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:31:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032261m	[env.py: 870]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98235051  0.81034716  0.03226122] yaw=-144.5deg	[env.py: 1019]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65658847  0.24548117  0.03226122] yaw=162.4deg	[env.py: 1019]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms	[env.py: 1075]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.810, 0.032)	[env.py: 1079]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
-05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:31:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:31:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:31:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:31:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:31:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:31:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:31:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:31:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.312[m] 77.746[deg]	[grasp_sample.py: 539]
-05/11 02:31:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:31:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:31:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:31:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:31:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:31:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:31:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:31:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:31:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.76s (batch: 4.00s, save: 7.76s)	[pipeline.py: 300]
-05/11 02:31:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s:
-  episode_total: mean=211.66s, total=211.66s, count=1, min=211661.5ms, max=211661.5ms
-  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=388.5ms, max=902.2ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7758.7ms, max=7758.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=13.1ms, max=43.2ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.4ms, max=3999.4ms
-  task_sampling: mean=319.3ms, total=319.3ms, count=1, min=319.3ms, max=319.3ms
-  task_specific_sample: mean=315.7ms, total=315.7ms, count=1, min=315.7ms, max=315.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=364.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:31:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:31:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:31:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079612m	[env.py: 870]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78420299  0.63615305  0.0796125 ] yaw=-180.6deg	[env.py: 1019]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13737818  1.08059659  0.0796125 ] yaw=-134.8deg	[env.py: 1019]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06079922  0.93984719  0.0796125 ] yaw=-149.5deg	[env.py: 1019]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.4ms	[env.py: 1075]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.636, 0.080)	[env.py: 1079]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg	[env.py: 1082]
-05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:31:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:31:35 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:31:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:31:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.460[m] 84.036[deg]	[grasp_sample.py: 539]
-05/11 02:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:31:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:31:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:31:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:31:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:32:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:32:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:32:49 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:33:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:33:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:33:14 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/11 02:33:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:33:24 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:33:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.17s (batch: 3.82s, save: 8.35s)	[pipeline.py: 300]
-05/11 02:33:27 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
-  episode_total: mean=90.82s, total=181.63s, count=2, min=177.3ms, max=181455.7ms
-  sensor_polling: mean=454.2ms, total=132.62s, count=292, min=385.7ms, max=966.6ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.0ms, max=8350.0ms
-  physics_step: mean=22.6ms, total=6.59s, count=292, min=13.4ms, max=44.0ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.5ms, max=3816.5ms
-  task_specific_sample: mean=334.7ms, total=669.4ms, count=2, min=167.7ms, max=501.7ms
-  task_sampling: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=483.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:33:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:33:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:33:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:33:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023149m	[env.py: 870]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90217044  0.73016441  0.02314857] yaw=-174.0deg	[env.py: 1019]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91349004  0.40464552  0.02314857] yaw=184.3deg	[env.py: 1019]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79433098  0.37628759  0.02314857] yaw=177.6deg	[env.py: 1019]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:33:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms	[env.py: 1075]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.730, 0.023)	[env.py: 1079]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
-05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:33:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:33:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:33:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:33:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:33:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 87.525[deg]	[grasp_sample.py: 539]
-05/11 02:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:33:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:33:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:33:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:33:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:33:40 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/11 02:33:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:33:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:33:45 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/11 02:33:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:33:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:33:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.64s (batch: 3.95s, save: 7.69s)	[pipeline.py: 300]
-05/11 02:33:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s:
-  episode_total: mean=164.45s, total=328.91s, count=2, min=151377.0ms, max=177531.6ms
-  sensor_polling: mean=451.0ms, total=261.59s, count=580, min=381.3ms, max=890.1ms
-  physics_step: mean=21.0ms, total=12.20s, count=580, min=13.6ms, max=66.9ms
-  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7687.3ms, max=7687.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.5ms, max=3949.5ms
-  task_sampling: mean=377.2ms, total=754.4ms, count=2, min=303.2ms, max=451.3ms
-  task_specific_sample: mean=374.1ms, total=748.2ms, count=2, min=300.3ms, max=447.8ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=376.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:33:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:33:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:33:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:33:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093887m	[env.py: 870]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86813067  0.03715406  0.09388653] yaw=143.6deg	[env.py: 1019]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02167961  1.31369819  0.09388653] yaw=-135.7deg	[env.py: 1019]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62939702  0.68539731  0.09388653] yaw=-163.2deg	[env.py: 1019]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:33:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.2ms, total=100.2ms	[env.py: 1075]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.037, 0.094)	[env.py: 1079]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.6 deg	[env.py: 1082]
-05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:33:54 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:33:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:33:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:33:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:33:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:33:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 92.453[deg]	[grasp_sample.py: 539]
-05/11 02:33:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:33:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:33:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.01s (batch: 3.77s, save: 7.24s)	[pipeline.py: 300]
-05/11 02:33:57 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
-  episode_total: mean=173.80s, total=173.80s, count=1, min=173802.0ms, max=173802.0ms
-  sensor_polling: mean=461.9ms, total=130.70s, count=283, min=389.2ms, max=910.9ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7239.7ms, max=7239.7ms
-  physics_step: mean=21.9ms, total=6.20s, count=283, min=14.1ms, max=57.6ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.3ms, max=3765.3ms
-  task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:33:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064566m	[env.py: 870]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93896747  0.37630092  0.06456601] yaw=163.2deg	[env.py: 1019]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83351412  0.86076288  0.06456601] yaw=-158.0deg	[env.py: 1019]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95518204  0.74435562  0.06456601] yaw=-151.2deg	[env.py: 1019]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms	[env.py: 1075]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.376, 0.065)	[env.py: 1079]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg	[env.py: 1082]
-05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:33:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:33:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:34:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:34:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 93.006[deg]	[grasp_sample.py: 539]
-05/11 02:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:34:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:34:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:04 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:34:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:34:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:34:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:34:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:34:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:34:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:34:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.41s (batch: 4.14s, save: 9.27s)	[pipeline.py: 300]
-05/11 02:34:36 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.68s, total=181.68s, count=1, min=181678.0ms, max=181678.0ms
-  sensor_polling: mean=457.1ms, total=137.13s, count=300, min=381.7ms, max=767.9ms
-  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9268.7ms, max=9268.7ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.6ms, max=66.9ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.6ms, max=4141.6ms
-  task_sampling: mean=395.1ms, total=395.1ms, count=1, min=395.1ms, max=395.1ms
-  task_specific_sample: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:34:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:34:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:34:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:34:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:34:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:34:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:34:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084902m	[env.py: 870]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:34:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0400889   0.86388119  0.08490167] yaw=-159.2deg	[env.py: 1019]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98715516  1.25390261  0.08490167] yaw=-122.5deg	[env.py: 1019]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms	[env.py: 1075]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.864, 0.085)	[env.py: 1079]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
-05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:34:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:34:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:34:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:34:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:34:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:34:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 89.143[deg]	[grasp_sample.py: 539]
-05/11 02:34:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:34:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:34:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:34:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:34:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:35:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:35:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:35:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:35:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:35:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:35:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.492[deg]	[grasp_sample.py: 539]
-05/11 02:35:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:35:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:35:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:35:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:35:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:35:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034915m	[env.py: 870]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18345275  1.12745388  0.03491549] yaw=-119.3deg	[env.py: 1019]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70260526  0.93739914  0.03491549] yaw=-149.0deg	[env.py: 1019]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94196049  0.60457112  0.03491549] yaw=-177.6deg	[env.py: 1019]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:35:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms	[env.py: 1075]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.183, 1.127, 0.035)	[env.py: 1079]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.3 deg	[env.py: 1082]
-05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:35:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:35:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:35:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:35:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 105.346[deg]	[grasp_sample.py: 539]
-05/11 02:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:35:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:35:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:35:56 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:36:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:36:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:36:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:36:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:36:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:36:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:36:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:36:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.205[deg]	[grasp_sample.py: 539]
-05/11 02:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:36:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005196m	[env.py: 870]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03576071  1.2444554   0.0051962 ] yaw=-133.7deg	[env.py: 1019]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92109879  0.28338814  0.0051962 ] yaw=174.3deg	[env.py: 1019]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms	[env.py: 1075]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.244, 0.005)	[env.py: 1079]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
-05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:36:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:36:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:36:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:36:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.593[m] 88.553[deg]	[grasp_sample.py: 539]
-05/11 02:36:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:36:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:36:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:36:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:36:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:36:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.80s (batch: 3.61s, save: 8.20s)	[pipeline.py: 300]
-05/11 02:36:33 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s:
-  episode_total: mean=184.63s, total=184.63s, count=1, min=184631.6ms, max=184631.6ms
-  sensor_polling: mean=453.8ms, total=136.13s, count=300, min=389.1ms, max=777.1ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.4ms, max=49.0ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.2ms, max=3607.2ms
-  task_sampling: mean=351.2ms, total=351.2ms, count=1, min=351.2ms, max=351.2ms
-  task_specific_sample: mean=347.7ms, total=347.7ms, count=1, min=347.7ms, max=347.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=366.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:36:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:36:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:36:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:36:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:36:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:36:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:36:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057089m	[env.py: 870]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:36:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354371  0.67923909  0.05708884] yaw=-176.1deg	[env.py: 1019]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90971662  0.89056737  0.05708884] yaw=-148.1deg	[env.py: 1019]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09916618  1.21215953  0.05708884] yaw=-138.1deg	[env.py: 1019]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:36:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.7ms	[env.py: 1075]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.679, 0.057)	[env.py: 1079]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
-05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:36:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:36:35 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:36:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:36:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:36:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:36:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.324[m] 78.283[deg]	[grasp_sample.py: 539]
-05/11 02:36:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:36:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:36:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:36:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:36:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:37:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:37:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:37:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:37:20 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/11 02:37:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:37:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:37:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:37:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 10.82s (batch: 3.52s, save: 7.29s)	[pipeline.py: 300]
-05/11 02:37:32 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=173.98s, total=173.98s, count=1, min=173980.6ms, max=173980.6ms
-  sensor_polling: mean=461.4ms, total=134.73s, count=292, min=388.6ms, max=761.5ms
-  save_trajectories: mean=7.29s, total=7.29s, count=1, min=7293.8ms, max=7293.8ms
-  physics_step: mean=21.2ms, total=6.19s, count=292, min=13.7ms, max=63.6ms
-  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.3ms, max=3524.3ms
-  task_sampling: mean=462.0ms, total=462.0ms, count=1, min=462.0ms, max=462.0ms
-  task_specific_sample: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=377.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:37:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:37:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:37:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:37:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:37:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:37:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089728m	[env.py: 870]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18807468  1.04700973  0.08972793] yaw=-142.9deg	[env.py: 1019]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12251831  0.98790223  0.08972793] yaw=-147.9deg	[env.py: 1019]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72808006 -0.00122954  0.08972793] yaw=162.7deg	[env.py: 1019]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms	[env.py: 1075]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.047, 0.090)	[env.py: 1079]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
-05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:37:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:37:34 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:37:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:37:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:37:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:37:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.341[m] 81.397[deg]	[grasp_sample.py: 539]
-05/11 02:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:37:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:37:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:37:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:37:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:37:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:37:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:37:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:37:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:37:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.113[m] 5.471[deg]	[grasp_sample.py: 539]
-05/11 02:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:37:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:37:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:38:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:38:24 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.477[deg]	[grasp_sample.py: 539]
-05/11 02:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:38:25 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.420s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 02:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 02:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:38:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:38:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036486m	[env.py: 870]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94753425  0.42741406  0.03648631] yaw=176.7deg	[env.py: 1019]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms	[env.py: 1075]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.427, 0.036)	[env.py: 1079]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg	[env.py: 1082]
-05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:38:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044895m	[env.py: 870]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02547389  1.07744934  0.04489506] yaw=-139.5deg	[env.py: 1019]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99268519  1.16520856  0.04489506] yaw=-134.3deg	[env.py: 1019]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98416081  1.20901535  0.04489506] yaw=-131.2deg	[env.py: 1019]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms	[env.py: 1075]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.077, 0.045)	[env.py: 1079]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg	[env.py: 1082]
-05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:38:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:38:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:38:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:38:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:38:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:38:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:38:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:38:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.386s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:38:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.331[m] 96.821[deg]	[grasp_sample.py: 539]
-05/11 02:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:38:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:38:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:38:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.535[m] 92.118[deg]	[grasp_sample.py: 539]
-05/11 02:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:38:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:38:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:38:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:38:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:38:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:38:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004365m	[env.py: 870]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:38:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95822872  0.6038591   0.00436462] yaw=-164.5deg	[env.py: 1019]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74973339 -0.00523651  0.00436462] yaw=146.5deg	[env.py: 1019]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms	[env.py: 1075]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.604, 0.004)	[env.py: 1079]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
-05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:38:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:38:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:38:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:38:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:38:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:38:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.281[m] 81.013[deg]	[grasp_sample.py: 539]
-05/11 02:38:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:38:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:38:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:38:55 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:39:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:39:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:39:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:39:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:39:14 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/11 02:39:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:39:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:39:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.14s (batch: 4.27s, save: 9.86s)	[pipeline.py: 300]
-05/11 02:39:29 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s:
-  episode_total: mean=174.31s, total=174.31s, count=1, min=174309.8ms, max=174309.8ms
-  sensor_polling: mean=454.8ms, total=129.16s, count=284, min=388.9ms, max=863.3ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.4ms, max=9863.4ms
-  physics_step: mean=23.2ms, total=6.59s, count=284, min=13.5ms, max=80.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.8ms, max=4272.8ms
-  task_sampling: mean=359.1ms, total=359.1ms, count=1, min=359.1ms, max=359.1ms
-  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:39:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:39:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:39:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:39:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:39:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:39:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:39:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093591m	[env.py: 870]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:39:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12528182  1.18467294  0.09359085] yaw=-136.6deg	[env.py: 1019]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75397958  0.97574423  0.09359085] yaw=-151.6deg	[env.py: 1019]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:39:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms	[env.py: 1075]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.185, 0.094)	[env.py: 1079]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
-05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:39:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:39:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:39:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:39:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:39:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:39:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.760s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:39:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.523[m] 94.268[deg]	[grasp_sample.py: 539]
-05/11 02:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:39:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:39:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:39:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:39:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:39:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:39:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:39:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:39:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.406[deg]	[grasp_sample.py: 539]
-05/11 02:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:39:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:39:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:39:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036693m	[env.py: 870]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74754708  0.76089117  0.03669274] yaw=-156.0deg	[env.py: 1019]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80834344  0.32818121  0.03669274] yaw=169.7deg	[env.py: 1019]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90698341  0.65376373  0.03669274] yaw=-175.1deg	[env.py: 1019]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.4ms	[env.py: 1075]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.761, 0.037)	[env.py: 1079]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
-05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:39:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:39:54 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:39:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:39:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.297s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:39:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 91.158[deg]	[grasp_sample.py: 539]
-05/11 02:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:39:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:39:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:40:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:40:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:40:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:40:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:40:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:40:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]	[grasp_sample.py: 539]
-05/11 02:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:40:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:40:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:40:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:40:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060962m	[env.py: 870]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80351157  1.09458717  0.06096196] yaw=-137.2deg	[env.py: 1019]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72449173  0.2670605   0.06096196] yaw=173.9deg	[env.py: 1019]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90305243  0.7429319   0.06096196] yaw=-162.9deg	[env.py: 1019]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms	[env.py: 1075]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.095, 0.061)	[env.py: 1079]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg	[env.py: 1082]
-05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:40:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:40:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:40:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:40:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:40:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.380s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:40:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.317[deg]	[grasp_sample.py: 539]
-05/11 02:40:09 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:40:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:40:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:40:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096104m	[env.py: 870]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99274547  0.94258334  0.09610424] yaw=-156.5deg	[env.py: 1019]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06690562  0.91988958  0.09610424] yaw=-138.2deg	[env.py: 1019]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9306923   0.81507989  0.09610424] yaw=-149.6deg	[env.py: 1019]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:40:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms	[env.py: 1075]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.943, 0.096)	[env.py: 1079]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:40:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:40:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:40:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 90.564[deg]	[grasp_sample.py: 539]
-05/11 02:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:40:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:40:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:40:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:40:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:40:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:40:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:40:50 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:40:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:40:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:41:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:41:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:41:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:41:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:41:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:41:10 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/11 02:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:41:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:41:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 3.72s, save: 9.79s)	[pipeline.py: 300]
-05/11 02:41:24 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=111.22s, total=444.88s, count=4, min=4505.4ms, max=171138.8ms
-  sensor_polling: mean=453.8ms, total=350.34s, count=772, min=378.3ms, max=1044.9ms
-  physics_step: mean=20.7ms, total=16.02s, count=772, min=13.5ms, max=143.6ms
-  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9791.8ms, max=9791.8ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.4ms, max=3718.4ms
-  task_sampling: mean=388.0ms, total=1.55s, count=4, min=342.7ms, max=423.3ms
-  task_specific_sample: mean=384.1ms, total=1.54s, count=4, min=339.5ms, max=420.4ms
-  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=2.1ms
-  mj_forward_sync: mean=1.1ms, total=4.2ms, count=4, min=0.4ms, max=3.1ms
-  policy_setup: mean=20.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:41:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:41:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063864m	[env.py: 870]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00927798  1.02095232  0.06386404] yaw=-147.7deg	[env.py: 1019]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63639876  0.59920286  0.06386404] yaw=-174.4deg	[env.py: 1019]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12112189  1.04961567  0.06386404] yaw=-136.6deg	[env.py: 1019]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:41:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms	[env.py: 1075]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.021, 0.064)	[env.py: 1079]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
-05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:41:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:41:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:41:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:41:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 89.324[deg]	[grasp_sample.py: 539]
-05/11 02:41:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:41:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:41:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:41:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:41:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:41:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:41:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:41:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:41:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.532[deg]	[grasp_sample.py: 539]
-05/11 02:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:41:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:41:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:41:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:41:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:42:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 02:42:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:42:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:42:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:42:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:42:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.176[m] 9.335[deg]	[grasp_sample.py: 539]
-05/11 02:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:42:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:42:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:42:08 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 02:42:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.47s:
-  episode_total: mean=158.01s, total=158.01s, count=1, min=158012.9ms, max=158012.9ms
-  sensor_polling: mean=444.7ms, total=133.42s, count=300, min=387.9ms, max=963.4ms
-  physics_step: mean=20.4ms, total=6.12s, count=300, min=13.8ms, max=45.0ms
-  task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms
-  task_specific_sample: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=509.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:42:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:42:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:42:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:42:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:42:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031101m	[env.py: 870]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66939563  0.66822278  0.03110104] yaw=-173.3deg	[env.py: 1019]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76383959  0.22384639  0.03110104] yaw=159.2deg	[env.py: 1019]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80078555  0.08251846  0.03110104] yaw=148.9deg	[env.py: 1019]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms	[env.py: 1075]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.668, 0.031)	[env.py: 1079]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
-05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:42:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:42:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:42:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:42:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:42:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:42:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:42:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.477s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:42:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 88.564[deg]	[grasp_sample.py: 539]
-05/11 02:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:42:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:42:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:42:16 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:42:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:42:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:42:38 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:42:42 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:42:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:42:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:42:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:42:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:42:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.46s (batch: 4.08s, save: 8.38s)	[pipeline.py: 300]
-05/11 02:42:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.08s:
-  episode_total: mean=159.92s, total=319.84s, count=2, min=138047.3ms, max=181792.0ms
-  sensor_polling: mean=451.9ms, total=248.56s, count=550, min=386.5ms, max=994.7ms
-  physics_step: mean=21.0ms, total=11.53s, count=550, min=15.0ms, max=68.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.7ms, max=4076.7ms
-  task_sampling: mean=538.1ms, total=1.08s, count=2, min=446.5ms, max=629.6ms
-  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=443.0ms, max=625.3ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.2ms, max=2.3ms
-  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:42:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:42:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009806m	[env.py: 870]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74702542  0.9272043   0.00980555] yaw=-162.0deg	[env.py: 1019]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270977  1.26076053  0.00980555] yaw=-127.9deg	[env.py: 1019]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms	[env.py: 1075]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.927, 0.010)	[env.py: 1079]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
-05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:42:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:42:57 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:42:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:42:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:43:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:43:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:43:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:43:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:43:01 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.634[m] 88.835[deg]	[grasp_sample.py: 539]
-05/11 02:43:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:43:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:43:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:43:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:43:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.70s (batch: 3.77s, save: 7.93s)	[pipeline.py: 300]
-05/11 02:43:12 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.25s:
-  episode_total: mean=109.32s, total=546.60s, count=5, min=2921.1ms, max=181064.9ms
-  sensor_polling: mean=456.4ms, total=421.71s, count=924, min=385.6ms, max=856.8ms
-  physics_step: mean=21.7ms, total=20.01s, count=924, min=13.9ms, max=60.7ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7933.1ms, max=7933.1ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3766.5ms, max=3766.5ms
-  task_sampling: mean=450.1ms, total=2.25s, count=5, min=393.9ms, max=502.6ms
-  task_specific_sample: mean=447.0ms, total=2.23s, count=5, min=390.8ms, max=499.5ms
-  scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=403.2us, total=2.0ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:43:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:43:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:43:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:43:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:43:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:43:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:43:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081645m	[env.py: 870]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:43:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9308983   0.39664266  0.08164505] yaw=176.0deg	[env.py: 1019]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97091112  0.10641144  0.08164505] yaw=142.4deg	[env.py: 1019]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15738571  1.11607121  0.08164505] yaw=-127.3deg	[env.py: 1019]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:43:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms	[env.py: 1075]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.082)	[env.py: 1079]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
-05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:43:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:43:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:43:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:43:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:43:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:43:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:43:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:43:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.349[m] 95.858[deg]	[grasp_sample.py: 539]
-05/11 02:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:43:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:43:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:43:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:43:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:43:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:43:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:43:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:43:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:43:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg]	[grasp_sample.py: 539]
-05/11 02:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:44:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:44:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:44:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:44:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:44:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085501m	[env.py: 870]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77714369  0.43511158  0.08550133] yaw=180.9deg	[env.py: 1019]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93775456  0.67732739  0.08550133] yaw=-174.7deg	[env.py: 1019]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:44:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.3ms	[env.py: 1075]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.435, 0.086)	[env.py: 1079]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg	[env.py: 1082]
-05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:44:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:44:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:44:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:44:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:44:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:44:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 91.153[deg]	[grasp_sample.py: 539]
-05/11 02:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:44:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:44:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:44:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:44:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:44:35 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:44:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:44:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:44:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:44:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:44:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:44:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:44:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.675[deg]	[grasp_sample.py: 539]
-05/11 02:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:44:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:44:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028290m	[env.py: 870]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:44:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92581603  0.4572776   0.02829025] yaw=184.9deg	[env.py: 1019]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78507727  0.85804967  0.02829025] yaw=-150.9deg	[env.py: 1019]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96612743  0.92877818  0.02829025] yaw=-158.0deg	[env.py: 1019]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms	[env.py: 1075]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.457, 0.028)	[env.py: 1079]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.9 deg	[env.py: 1082]
-05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:44:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:44:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:44:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:44:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:44:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:44:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 100.786[deg]	[grasp_sample.py: 539]
-05/11 02:44:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:44:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:44:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:44:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:44:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:44:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:44:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:45:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:45:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.19s (batch: 4.36s, save: 7.84s)	[pipeline.py: 300]
-05/11 02:45:12 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
-  episode_total: mean=182.46s, total=182.46s, count=1, min=182463.7ms, max=182463.7ms
-  sensor_polling: mean=443.7ms, total=133.10s, count=300, min=374.4ms, max=855.4ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7835.8ms, max=7835.8ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.6ms, max=67.0ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.2ms, max=4357.2ms
-  task_sampling: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms
-  task_specific_sample: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=527.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:45:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:45:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:45:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:45:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:45:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012329m	[env.py: 870]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91643954  0.81461754  0.01232899] yaw=-167.4deg	[env.py: 1019]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79996886  0.08772692  0.01232899] yaw=167.7deg	[env.py: 1019]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83028889  1.0932829   0.01232899] yaw=-156.1deg	[env.py: 1019]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms	[env.py: 1075]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.815, 0.012)	[env.py: 1079]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:45:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:45:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:45:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:45:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:45:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:45:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 89.061[deg]	[grasp_sample.py: 539]
-05/11 02:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:45:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:45:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:45:25 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:45:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:45:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:45:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:45:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:45:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:45:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:45:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:46:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:46:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:46:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.88s (batch: 3.94s, save: 8.94s)	[pipeline.py: 300]
-05/11 02:46:03 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
-  episode_total: mean=186.17s, total=186.17s, count=1, min=186174.8ms, max=186174.8ms
-  sensor_polling: mean=449.3ms, total=134.78s, count=300, min=387.0ms, max=835.5ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.2ms, max=8940.2ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=94.8ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.5ms, max=3935.5ms
-  task_sampling: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
-  task_specific_sample: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=588.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:46:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:46:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:46:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:46:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:46:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:46:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012958m	[env.py: 870]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:46:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86632894  1.18196708  0.01295842] yaw=-132.5deg	[env.py: 1019]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90974515  0.09898569  0.01295842] yaw=153.1deg	[env.py: 1019]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66973585  0.51128947  0.01295842] yaw=-170.3deg	[env.py: 1019]
-05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:46:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms	[env.py: 1075]
-05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 1.182, 0.013)	[env.py: 1079]
-05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg	[env.py: 1082]
-05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:46:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:46:05 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:46:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:46:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:46:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:46:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.203s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:46:08 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
-05/11 02:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:46:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:46:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:46:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:46:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:46:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089093m	[env.py: 870]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86102986  0.82982191  0.08909347] yaw=-149.0deg	[env.py: 1019]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84275858  0.23723363  0.08909347] yaw=171.7deg	[env.py: 1019]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0749041   1.14063254  0.08909347] yaw=-143.6deg	[env.py: 1019]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms	[env.py: 1075]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.830, 0.089)	[env.py: 1079]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:46:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:46:10 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:46:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:46:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 99.681[deg]	[grasp_sample.py: 539]
-05/11 02:46:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.313s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:46:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.631[deg]	[grasp_sample.py: 539]
-05/11 02:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:46:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:46:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:46:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:46:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:46:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:46:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.351s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:46:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.405[deg]	[grasp_sample.py: 539]
-05/11 02:46:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:46:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:46:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:42 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:46:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:46:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:46:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:47:05 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:47:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:47:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:47:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.86s, save: 8.66s)	[pipeline.py: 300]
-05/11 02:47:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.80s:
-  episode_total: mean=175.42s, total=350.85s, count=2, min=154120.1ms, max=196728.5ms
-  sensor_polling: mean=447.3ms, total=267.46s, count=598, min=382.8ms, max=957.7ms
-  physics_step: mean=21.2ms, total=12.66s, count=598, min=12.4ms, max=95.9ms
-  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.2ms, max=8659.2ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.8ms, max=3857.8ms
-  task_sampling: mean=399.1ms, total=798.1ms, count=2, min=397.9ms, max=400.3ms
-  task_specific_sample: mean=395.2ms, total=790.4ms, count=2, min=393.5ms, max=396.9ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.5ms
-  mj_forward_sync: mean=468.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:47:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:47:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:47:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083837m	[env.py: 870]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02372407  0.8349774   0.08383687] yaw=-144.9deg	[env.py: 1019]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89440444  1.00927682  0.08383687] yaw=-144.1deg	[env.py: 1019]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10665283  1.09181924  0.08383687] yaw=-134.3deg	[env.py: 1019]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.0ms, total=339.0ms	[env.py: 1075]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.835, 0.084)	[env.py: 1079]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg	[env.py: 1082]
-05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:47:20 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:47:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:47:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 93.260[deg]	[grasp_sample.py: 539]
-05/11 02:47:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:47:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:47:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:47:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:47:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:47:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:47:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:47:39 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.049[deg]	[grasp_sample.py: 539]
-05/11 02:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:47:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:47:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:47:41 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:48:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:48:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:48:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:48:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:48:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:48:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:48:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:48:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:48:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:48:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:48:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:48:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.63s (batch: 3.93s, save: 7.70s)	[pipeline.py: 300]
-05/11 02:48:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s:
-  episode_total: mean=180.85s, total=180.85s, count=1, min=180851.4ms, max=180851.4ms
-  sensor_polling: mean=447.4ms, total=134.22s, count=300, min=390.2ms, max=843.9ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7702.8ms, max=7702.8ms
-  physics_step: mean=20.7ms, total=6.21s, count=300, min=16.7ms, max=50.3ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3927.1ms, max=3927.1ms
-  task_sampling: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
-  task_specific_sample: mean=369.7ms, total=369.7ms, count=1, min=369.7ms, max=369.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=400.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:48:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073043m	[env.py: 870]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01753125  1.0064936   0.0730427 ] yaw=-153.2deg	[env.py: 1019]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87744784  0.25545261  0.0730427 ] yaw=172.4deg	[env.py: 1019]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms	[env.py: 1075]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.006, 0.073)	[env.py: 1079]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg	[env.py: 1082]
-05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:48:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:48:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:48:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:48:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:48:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:48:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:48:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:48:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 90.373[deg]	[grasp_sample.py: 539]
-05/11 02:48:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:48:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:48:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:48:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:48:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:48:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.44s (batch: 4.04s, save: 8.40s)	[pipeline.py: 300]
-05/11 02:48:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.88s:
-  episode_total: mean=152.29s, total=304.58s, count=2, min=96724.6ms, max=207860.0ms
-  sensor_polling: mean=455.1ms, total=215.27s, count=473, min=395.6ms, max=853.3ms
-  physics_step: mean=21.7ms, total=10.25s, count=473, min=13.2ms, max=71.8ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8401.0ms, max=8401.0ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms
-  task_sampling: mean=440.0ms, total=879.9ms, count=2, min=403.2ms, max=476.7ms
-  task_specific_sample: mean=436.5ms, total=873.1ms, count=2, min=399.7ms, max=473.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=466.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:48:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:48:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:48:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:48:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051442m	[env.py: 870]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6800652   0.4410362   0.05144215] yaw=177.1deg	[env.py: 1019]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12030799  1.01022821  0.05144215] yaw=-135.5deg	[env.py: 1019]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.708727    0.11066344  0.05144215] yaw=150.8deg	[env.py: 1019]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms	[env.py: 1075]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.441, 0.051)	[env.py: 1079]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg	[env.py: 1082]
-05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:48:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:48:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:48:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:48:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:48:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:48:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.625[m] 105.551[deg]	[grasp_sample.py: 539]
-05/11 02:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:48:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:48:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:48:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:48:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:48:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:48:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:49:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:49:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:49:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.58s (batch: 4.21s, save: 9.37s)	[pipeline.py: 300]
-05/11 02:49:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.72s:
-  episode_total: mean=92.35s, total=184.71s, count=2, min=3729.4ms, max=180977.1ms
-  sensor_polling: mean=451.0ms, total=135.30s, count=300, min=387.0ms, max=949.8ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9369.1ms, max=9369.1ms
-  physics_step: mean=20.6ms, total=6.18s, count=300, min=13.7ms, max=35.5ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4206.1ms, max=4206.1ms
-  task_sampling: mean=359.9ms, total=719.8ms, count=2, min=318.4ms, max=401.4ms
-  task_specific_sample: mean=356.9ms, total=713.8ms, count=2, min=315.8ms, max=398.0ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=364.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:49:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:49:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:49:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083963m	[env.py: 870]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790689  0.08961169  0.08396345] yaw=148.8deg	[env.py: 1019]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93962969  0.36751884  0.08396345] yaw=176.1deg	[env.py: 1019]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.1ms	[env.py: 1075]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.090, 0.084)	[env.py: 1079]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg	[env.py: 1082]
-05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:49:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:49:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:49:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.672s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:49:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 91.163[deg]	[grasp_sample.py: 539]
-05/11 02:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:49:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:49:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:49:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:49:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:50:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:50:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:50:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.20s (batch: 3.88s, save: 8.32s)	[pipeline.py: 300]
-05/11 02:50:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s:
-  episode_total: mean=184.88s, total=184.88s, count=1, min=184882.9ms, max=184882.9ms
-  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=392.9ms, max=785.9ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.1ms, max=8318.1ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=15.6ms, max=53.1ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
-  task_sampling: mean=640.1ms, total=640.1ms, count=1, min=640.1ms, max=640.1ms
-  task_specific_sample: mean=636.1ms, total=636.1ms, count=1, min=636.1ms, max=636.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:50:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:50:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062174m	[env.py: 870]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94709228  0.77851438  0.06217409] yaw=-149.5deg	[env.py: 1019]
-05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70206733  0.41102557  0.06217409] yaw=184.8deg	[env.py: 1019]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68085066  0.42511192  0.06217409] yaw=165.9deg	[env.py: 1019]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.6ms	[env.py: 1075]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.779, 0.062)	[env.py: 1079]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:50:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:50:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.310s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:50:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.490[deg]	[grasp_sample.py: 539]
-05/11 02:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:50:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:50:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:51:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:51:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:51:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:51:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:51:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:51:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:51:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.270[deg]	[grasp_sample.py: 539]
-05/11 02:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:51:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:51:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:51:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:51:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007843m	[env.py: 870]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93806868  0.64586717  0.00784276] yaw=-157.2deg	[env.py: 1019]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74378501  0.05424597  0.00784276] yaw=145.3deg	[env.py: 1019]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82582189  0.82551053  0.00784276] yaw=-169.4deg	[env.py: 1019]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.6ms	[env.py: 1075]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.646, 0.008)	[env.py: 1079]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
-05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:51:17 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:51:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:51:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:51:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:51:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:51:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:51:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.098[deg]	[grasp_sample.py: 539]
-05/11 02:51:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:51:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:51:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.73s (batch: 3.80s, save: 7.94s)	[pipeline.py: 300]
-05/11 02:51:26 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s:
-  episode_total: mean=184.61s, total=184.61s, count=1, min=184607.9ms, max=184607.9ms
-  sensor_polling: mean=454.6ms, total=136.39s, count=300, min=383.3ms, max=895.0ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.9ms, max=7935.9ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=14.1ms, max=77.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms
-  task_sampling: mean=346.6ms, total=346.6ms, count=1, min=346.6ms, max=346.6ms
-  task_specific_sample: mean=343.0ms, total=343.0ms, count=1, min=343.0ms, max=343.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:51:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:51:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091385m	[env.py: 870]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02322248  1.25505167  0.09138471] yaw=-139.1deg	[env.py: 1019]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0511847   0.88939376  0.09138471] yaw=-142.3deg	[env.py: 1019]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84408061  0.34259098  0.09138471] yaw=162.0deg	[env.py: 1019]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms	[env.py: 1075]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.255, 0.091)	[env.py: 1079]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
-05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:51:28 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:51:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:51:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:51:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:51:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:51:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:51:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:51:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.97s (batch: 3.82s, save: 8.15s)	[pipeline.py: 300]
-05/11 02:51:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
-  episode_total: mean=193.19s, total=193.19s, count=1, min=193191.7ms, max=193191.7ms
-  sensor_polling: mean=458.8ms, total=137.64s, count=300, min=400.7ms, max=679.8ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.5ms, max=8152.5ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.8ms, max=73.9ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3819.6ms, max=3819.6ms
-  task_sampling: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms
-  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:51:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:51:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.637[m] 73.934[deg]	[grasp_sample.py: 539]
-05/11 02:51:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:51:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:51:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:51:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:51:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:51:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:51:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:51:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037868m	[env.py: 870]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:51:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78851174  0.30603484  0.03786768] yaw=177.3deg	[env.py: 1019]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:51:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.306, 0.038)	[env.py: 1079]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg	[env.py: 1082]
-05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:51:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:51:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:51:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:51:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:51:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:51:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 91.263[deg]	[grasp_sample.py: 539]
-05/11 02:51:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:51:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:51:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:51:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:52:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:52:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:52:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:52:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:52:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:52:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:52:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:52:55 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:53:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:53:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:53:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:53:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:53:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:53:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:53:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.452s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 02:53:27 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 02:53:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:53:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:53:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.53s (batch: 3.76s, save: 7.77s)	[pipeline.py: 300]
-05/11 02:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:53:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:53:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:53:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041465m	[env.py: 870]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72908431  0.5880447   0.04146533] yaw=-179.2deg	[env.py: 1019]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9561162   1.16206869  0.04146533] yaw=-131.1deg	[env.py: 1019]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92749545  0.68286612  0.04146533] yaw=-160.5deg	[env.py: 1019]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.5ms	[env.py: 1075]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.588, 0.041)	[env.py: 1079]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg	[env.py: 1082]
-05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:53:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.59s:
-  episode_total: mean=183.07s, total=183.07s, count=1, min=183069.2ms, max=183069.2ms
-  sensor_polling: mean=456.5ms, total=136.95s, count=300, min=382.3ms, max=722.6ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=16.7ms, max=73.7ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.0ms, max=3756.0ms
-  task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms
-  task_specific_sample: mean=585.7ms, total=585.7ms, count=1, min=585.7ms, max=585.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:53:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:53:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:53:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:53:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 97.769[deg]	[grasp_sample.py: 539]
-05/11 02:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:53:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:53:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:53:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:53:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:53:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:53:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:53:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:53:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:53:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075768m	[env.py: 870]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:53:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73387825  0.98322963  0.0757682 ] yaw=-158.4deg	[env.py: 1019]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms	[env.py: 1075]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.983, 0.076)	[env.py: 1079]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
-05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:53:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:53:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:53:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:53:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:53:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.661[m] 84.564[deg]	[grasp_sample.py: 539]
-05/11 02:53:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:53:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:53:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:53:38 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:54:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:54:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 02:54:00 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/11 02:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:54:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:54:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:54:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:54:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:54:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:54:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:54:05 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.427[deg]	[grasp_sample.py: 539]
-05/11 02:54:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:54:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:54:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:54:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:54:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:54:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.60s (batch: 3.55s, save: 10.05s)	[pipeline.py: 300]
-05/11 02:54:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=150.30s, total=300.61s, count=2, min=122645.6ms, max=177963.7ms
-  sensor_polling: mean=452.9ms, total=220.55s, count=487, min=364.9ms, max=760.8ms
-  physics_step: mean=21.2ms, total=10.31s, count=487, min=14.0ms, max=59.7ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10051.7ms, max=10051.7ms
-  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.0ms, max=3551.0ms
-  task_sampling: mean=409.5ms, total=819.0ms, count=2, min=367.4ms, max=451.6ms
-  task_specific_sample: mean=406.1ms, total=812.2ms, count=2, min=364.3ms, max=447.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=382.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:54:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:54:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:54:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:54:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:54:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:54:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:54:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052875m	[env.py: 870]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:54:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61688734  0.4427823   0.05287452] yaw=174.7deg	[env.py: 1019]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94800678  1.2667643   0.05287452] yaw=-136.3deg	[env.py: 1019]
-05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms	[env.py: 1075]
-05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.443, 0.053)	[env.py: 1079]
-05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
-05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:54:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:54:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:54:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:54:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:54:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:54:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:54:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:54:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 94.759[deg]	[grasp_sample.py: 539]
-05/11 02:54:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:54:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:54:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:54:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:54:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:54:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:54:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:54:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:54:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:54:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.51s (batch: 4.00s, save: 10.52s)	[pipeline.py: 300]
-05/11 02:54:50 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
-  episode_total: mean=198.70s, total=198.70s, count=1, min=198699.1ms, max=198699.1ms
-  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=393.2ms, max=718.3ms
-  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10516.2ms, max=10516.2ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=13.3ms, max=58.0ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.6ms, max=3995.6ms
-  task_sampling: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms
-  task_specific_sample: mean=419.9ms, total=419.9ms, count=1, min=419.9ms, max=419.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:54:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:54:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:54:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:54:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:54:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099543m	[env.py: 870]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79383475  0.79523743  0.09954261] yaw=-172.0deg	[env.py: 1019]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98242657  0.93334811  0.09954261] yaw=-156.4deg	[env.py: 1019]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79847742  0.80906667  0.09954261] yaw=-159.5deg	[env.py: 1019]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:54:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=458.4ms, total=458.4ms	[env.py: 1075]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.795, 0.100)	[env.py: 1079]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
-05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:54:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:54:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:54:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:54:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:54:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:54:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:54:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:54:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:54:54 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.517[m] 90.895[deg]	[grasp_sample.py: 539]
-05/11 02:54:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:54:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:54:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:55:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:55:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:55:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:55:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:55:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:56:00 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:56:03 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:56:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:56:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:56:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:56:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:56:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:56:05 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.388[deg]	[grasp_sample.py: 539]
-05/11 02:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:56:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:56:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:56:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:56:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 02:56:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:56:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 02:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:56:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:56:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.19s (batch: 4.85s, save: 8.33s)	[pipeline.py: 300]
-05/11 02:56:38 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.73s:
-  episode_total: mean=154.55s, total=309.10s, count=2, min=120135.5ms, max=188969.2ms
-  sensor_polling: mean=462.6ms, total=238.68s, count=516, min=386.5ms, max=917.8ms
-  physics_step: mean=22.6ms, total=11.68s, count=516, min=17.0ms, max=59.0ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8334.2ms, max=8334.2ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4855.0ms, max=4855.0ms
-  task_sampling: mean=363.6ms, total=727.2ms, count=2, min=329.2ms, max=398.0ms
-  task_specific_sample: mean=360.3ms, total=720.6ms, count=2, min=325.8ms, max=394.9ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms
-  mj_forward_sync: mean=380.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:56:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:56:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:56:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.97s (batch: 4.16s, save: 8.81s)	[pipeline.py: 300]
-05/11 02:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:56:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008905m	[env.py: 870]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98486534  0.1246059   0.00890527] yaw=156.8deg	[env.py: 1019]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9042199   0.65800408  0.00890527] yaw=-175.5deg	[env.py: 1019]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7929734   0.33748672  0.00890527] yaw=162.2deg	[env.py: 1019]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms	[env.py: 1075]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.125, 0.009)	[env.py: 1079]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
-05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:56:40 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.10s, total=189.10s, count=1, min=189100.9ms, max=189100.9ms
-  sensor_polling: mean=463.6ms, total=139.07s, count=300, min=378.4ms, max=901.7ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.5ms, max=8811.5ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=48.5ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms
-  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  task_specific_sample: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=525.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:56:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:56:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:56:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.421[m] 99.411[deg]	[grasp_sample.py: 539]
-05/11 02:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:56:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:56:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:56:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:56:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:56:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:56:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:56:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091681m	[env.py: 870]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92975541  1.14701302  0.09168103] yaw=-136.8deg	[env.py: 1019]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08287859  1.03911609  0.09168103] yaw=-127.0deg	[env.py: 1019]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9467349   0.56959405  0.09168103] yaw=-178.6deg	[env.py: 1019]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.4ms	[env.py: 1075]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.147, 0.092)	[env.py: 1079]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg	[env.py: 1082]
-05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:56:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:56:42 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:56:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:56:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:56:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:56:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:56:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.641s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:56:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 91.471[deg]	[grasp_sample.py: 539]
-05/11 02:56:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:56:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:56:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:57:09 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 02:57:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.46s:
-  episode_total: mean=173.17s, total=173.17s, count=1, min=173169.7ms, max=173169.7ms
-  sensor_polling: mean=491.1ms, total=147.34s, count=300, min=395.7ms, max=1070.7ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=14.9ms, max=110.3ms
-  task_sampling: mean=460.0ms, total=460.0ms, count=1, min=460.0ms, max=460.0ms
-  task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=439.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:57:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032276m	[env.py: 870]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82739736  0.53924802  0.03227582] yaw=-167.4deg	[env.py: 1019]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85671526  0.29915667  0.03227582] yaw=156.4deg	[env.py: 1019]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77188782  0.13267965  0.03227582] yaw=170.4deg	[env.py: 1019]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.8ms	[env.py: 1075]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.539, 0.032)	[env.py: 1079]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:57:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:57:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:57:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:57:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:57:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:57:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 85.622[deg]	[grasp_sample.py: 539]
-05/11 02:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:57:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:57:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:57:39 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 02:57:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:57:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:58:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:58:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:58:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 02:58:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 02:58:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 02:58:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:58:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:58:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 02:58:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 02:58:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.34s, save: 8.68s)	[pipeline.py: 300]
-05/11 02:58:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.77s:
-  episode_total: mean=209.21s, total=209.21s, count=1, min=209212.2ms, max=209212.2ms
-  sensor_polling: mean=511.9ms, total=153.56s, count=300, min=401.6ms, max=1251.8ms
-  save_trajectories: mean=8.68s, total=8.68s, count=1, min=8679.4ms, max=8679.4ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.7ms, max=91.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.9ms, max=4336.9ms
-  task_sampling: mean=771.5ms, total=771.5ms, count=1, min=771.5ms, max=771.5ms
-  task_specific_sample: mean=767.2ms, total=767.2ms, count=1, min=767.2ms, max=767.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=831.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 02:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:58:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:58:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027234m	[env.py: 870]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6527338   0.40810309  0.02723366] yaw=184.5deg	[env.py: 1019]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07280929  0.92833791  0.02723366] yaw=-142.1deg	[env.py: 1019]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2032377   1.08133798  0.02723366] yaw=-125.9deg	[env.py: 1019]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms	[env.py: 1075]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.408, 0.027)	[env.py: 1079]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg	[env.py: 1082]
-05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:58:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:58:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:58:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.643s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:58:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.602[m] 88.174[deg]	[grasp_sample.py: 539]
-05/11 02:58:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:59:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:59:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:59:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:59:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:59:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:59:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]	[grasp_sample.py: 539]
-05/11 02:59:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:59:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:59:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:59:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:59:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:59:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:59:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:59:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.300[deg]	[grasp_sample.py: 539]
-05/11 02:59:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 02:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 02:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 02:59:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 02:59:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:59:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 02:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 02:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 02:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015805m	[env.py: 870]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 02:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01422068  1.17127059  0.01580467] yaw=-133.4deg	[env.py: 1019]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88406195  1.17046951  0.01580467] yaw=-144.7deg	[env.py: 1019]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81610975  0.68740432  0.01580467] yaw=-160.4deg	[env.py: 1019]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 02:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.5ms	[env.py: 1075]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.171, 0.016)	[env.py: 1079]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
-05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 02:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 02:59:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 02:59:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/11 02:59:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:59:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:59:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.292s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:59:40 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.618[m] 96.443[deg]	[grasp_sample.py: 539]
-05/11 02:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:59:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 02:59:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 02:59:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 02:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 02:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 02:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 02:59:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.046s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 02:59:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.927[deg]	[grasp_sample.py: 539]
-05/11 02:59:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 02:59:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 02:59:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 02:59:58 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:00:02 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:00:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:00:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:00:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:00:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:00:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:00:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:00:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:00:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:00:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.73s (batch: 4.53s, save: 8.20s)	[pipeline.py: 300]
-05/11 03:00:40 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.73s, total=208.73s, count=1, min=208726.2ms, max=208726.2ms
-  sensor_polling: mean=515.1ms, total=154.54s, count=300, min=438.0ms, max=908.4ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.0ms, max=8195.0ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=58.6ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.5ms, max=4530.5ms
-  task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms
-  task_specific_sample: mean=502.5ms, total=502.5ms, count=1, min=502.5ms, max=502.5ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:00:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:00:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:00:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:00:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:00:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:00:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:00:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003110m	[env.py: 870]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:00:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94693642  0.56150217  0.00310969] yaw=-173.2deg	[env.py: 1019]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82445238  0.91273533  0.00310969] yaw=-147.4deg	[env.py: 1019]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:00:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=393.4ms, total=393.4ms	[env.py: 1075]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.562, 0.003)	[env.py: 1079]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
-05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:00:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:00:42 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:00:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:00:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:00:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:00:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.305[m] 87.262[deg]	[grasp_sample.py: 539]
-05/11 03:00:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:00:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:00:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:00:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.67s (batch: 4.20s, save: 9.46s)	[pipeline.py: 300]
-05/11 03:00:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:00:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:00:45 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s:
-  episode_total: mean=245.53s, total=245.53s, count=1, min=245529.6ms, max=245529.6ms
-  sensor_polling: mean=532.6ms, total=159.79s, count=300, min=454.2ms, max=973.2ms
-  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9462.3ms, max=9462.3ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=17.0ms, max=83.5ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.9ms, max=4204.9ms
-  task_sampling: mean=564.8ms, total=564.8ms, count=1, min=564.8ms, max=564.8ms
-  task_specific_sample: mean=560.9ms, total=560.9ms, count=1, min=560.9ms, max=560.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:00:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:00:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:00:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:00:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:00:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:00:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:00:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:00:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094541m	[env.py: 870]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:00:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74920444  0.85812935  0.09454065] yaw=-149.9deg	[env.py: 1019]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91062264  1.05030486  0.09454065] yaw=-146.2deg	[env.py: 1019]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:00:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.4ms, total=286.5ms	[env.py: 1075]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.858, 0.095)	[env.py: 1079]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
-05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:00:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:00:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:00:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.187s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:00:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:00:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:00:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:00:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.315s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:00:54 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.655[m] 96.973[deg]	[grasp_sample.py: 539]
-05/11 03:00:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:00:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:00:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:00:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:01:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:01:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:01:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:01:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:01:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:01:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:01:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:01:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:01:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:01:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:01:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.68s, save: 8.35s)	[pipeline.py: 300]
-05/11 03:01:51 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.54s, total=208.54s, count=1, min=208540.0ms, max=208540.0ms
-  sensor_polling: mean=514.6ms, total=154.38s, count=300, min=430.0ms, max=1086.4ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.4ms, max=8345.4ms
-  physics_step: mean=24.2ms, total=7.25s, count=300, min=18.6ms, max=82.8ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.8ms, max=4677.8ms
-  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
-  task_specific_sample: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=669.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:01:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:01:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:01:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:01:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:01:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084366m	[env.py: 870]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60560778  0.509178    0.08436632] yaw=-183.3deg	[env.py: 1019]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74689134  0.17667097  0.08436632] yaw=171.8deg	[env.py: 1019]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81463441  0.42339861  0.08436632] yaw=185.8deg	[env.py: 1019]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=409.4ms, total=409.4ms	[env.py: 1075]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.606, 0.509, 0.084)	[env.py: 1079]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg	[env.py: 1082]
-05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:01:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:01:53 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:01:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:01:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:01:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.166s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:01:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.315s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:01:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.672[m] 93.667[deg]	[grasp_sample.py: 539]
-05/11 03:01:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:01:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:01:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:02:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:02:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:02:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:02:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:02:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:02:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.882[deg]	[grasp_sample.py: 539]
-05/11 03:02:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:02:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:02:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:02:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:02:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:02:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:02:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:02:36 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 03:02:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.08s:
-  episode_total: mean=175.97s, total=351.94s, count=2, min=172258.0ms, max=179678.0ms
-  sensor_polling: mean=518.8ms, total=298.30s, count=575, min=424.6ms, max=1022.0ms
-  physics_step: mean=25.0ms, total=14.37s, count=575, min=17.8ms, max=105.4ms
-  task_sampling: mean=540.4ms, total=1.08s, count=2, min=487.4ms, max=593.4ms
-  task_specific_sample: mean=536.2ms, total=1.07s, count=2, min=484.2ms, max=588.3ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.3ms, max=3.5ms
-  mj_forward_sync: mean=526.7us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:02:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:02:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:02:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:02:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005910m	[env.py: 870]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92339016  0.82842172  0.00591015] yaw=-147.0deg	[env.py: 1019]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61444264  0.47013764  0.00591015] yaw=175.2deg	[env.py: 1019]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:02:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms	[env.py: 1075]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.828, 0.006)	[env.py: 1079]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.0 deg	[env.py: 1082]
-05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:02:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:02:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:02:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:02:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:02:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:02:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:02:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:02:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 83.799[deg]	[grasp_sample.py: 539]
-05/11 03:02:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:02:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:02:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:02:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/11 03:02:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:02:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:02:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:02:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:02:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:02:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.556[deg]	[grasp_sample.py: 539]
-05/11 03:02:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:02:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:02:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:03:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:03:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:03:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:03:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:38 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 03:03:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.68s:
-  episode_total: mean=170.32s, total=170.32s, count=1, min=170320.4ms, max=170320.4ms
-  sensor_polling: mean=506.8ms, total=152.04s, count=300, min=438.9ms, max=1051.4ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.1ms, max=94.2ms
-  task_sampling: mean=682.4ms, total=682.4ms, count=1, min=682.4ms, max=682.4ms
-  task_specific_sample: mean=674.1ms, total=674.1ms, count=1, min=674.1ms, max=674.1ms
-  mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:03:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:03:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:03:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017881m	[env.py: 870]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92484502  0.52670293  0.01788072] yaw=-186.1deg	[env.py: 1019]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15183148  1.14745023  0.01788072] yaw=-119.1deg	[env.py: 1019]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76158424  0.47126797  0.01788072] yaw=178.1deg	[env.py: 1019]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:03:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.0ms	[env.py: 1075]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.527, 0.018)	[env.py: 1079]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg	[env.py: 1082]
-05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:03:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:03:40 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:03:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:03:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:03:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:03:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:03:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:03:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.339[m] 88.616[deg]	[grasp_sample.py: 539]
-05/11 03:03:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:03:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:03:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:03:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:03:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:03:51 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/11 03:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:04:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:04:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.43s (batch: 4.59s, save: 9.85s)	[pipeline.py: 300]
-05/11 03:04:06 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.74s:
-  episode_total: mean=204.64s, total=204.64s, count=1, min=204639.0ms, max=204639.0ms
-  sensor_polling: mean=521.1ms, total=146.42s, count=281, min=447.2ms, max=1060.1ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9845.3ms, max=9845.3ms
-  physics_step: mean=26.8ms, total=7.54s, count=281, min=18.2ms, max=100.4ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms
-  task_sampling: mean=744.1ms, total=744.1ms, count=1, min=744.1ms, max=744.1ms
-  task_specific_sample: mean=739.2ms, total=739.2ms, count=1, min=739.2ms, max=739.2ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=742.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:04:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087360m	[env.py: 870]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92874538  1.03523613  0.08736023] yaw=-148.7deg	[env.py: 1019]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96007145  0.28736269  0.08736023] yaw=160.6deg	[env.py: 1019]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92292985  0.38958348  0.08736023] yaw=179.1deg	[env.py: 1019]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.4ms	[env.py: 1075]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.035, 0.087)	[env.py: 1079]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg	[env.py: 1082]
-05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:04:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:04:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.199s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.190s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:04:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.142s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:04:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.907[deg]	[grasp_sample.py: 539]
-05/11 03:04:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:04:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:04:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:04:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:04:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:04:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:04:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:05:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:05:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:05:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:05:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:05:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:05:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:05:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:05:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.37s (batch: 5.04s, save: 10.33s)	[pipeline.py: 300]
-05/11 03:05:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.71s:
-  episode_total: mean=211.03s, total=211.03s, count=1, min=211025.1ms, max=211025.1ms
-  sensor_polling: mean=517.9ms, total=155.38s, count=300, min=440.6ms, max=911.3ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10327.2ms, max=10327.2ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=17.6ms, max=115.1ms
-  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5040.7ms, max=5040.7ms
-  task_sampling: mean=707.3ms, total=707.3ms, count=1, min=707.3ms, max=707.3ms
-  task_specific_sample: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=503.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:05:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:05:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:05:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011440m	[env.py: 870]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90244027  0.91898637  0.01144   ] yaw=-161.4deg	[env.py: 1019]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94999581  1.23453272  0.01144   ] yaw=-132.6deg	[env.py: 1019]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms	[env.py: 1075]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.919, 0.011)	[env.py: 1079]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
-05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:05:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:05:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:05:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:05:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:05:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:05:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:05:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 94.956[deg]	[grasp_sample.py: 539]
-05/11 03:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:05:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:05:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:05:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:05:50 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/11 03:06:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:06:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:06:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.64s (batch: 4.44s, save: 8.20s)	[pipeline.py: 300]
-05/11 03:06:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
-  episode_total: mean=205.70s, total=205.70s, count=1, min=205695.2ms, max=205695.2ms
-  sensor_polling: mean=526.5ms, total=156.89s, count=298, min=440.5ms, max=951.6ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8198.0ms, max=8198.0ms
-  physics_step: mean=27.1ms, total=8.08s, count=298, min=16.1ms, max=132.6ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.2ms, max=4443.2ms
-  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
-  task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:06:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:06:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:06:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:06:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:06:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:06:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:06:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014150m	[env.py: 870]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:06:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19987842  1.06670778  0.01414984] yaw=-137.4deg	[env.py: 1019]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85859254  0.80293895  0.01414984] yaw=-158.4deg	[env.py: 1019]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02140141  0.98655105  0.01414984] yaw=-145.9deg	[env.py: 1019]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:06:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms	[env.py: 1075]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.200, 1.067, 0.014)	[env.py: 1079]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg	[env.py: 1082]
-05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:06:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:06:05 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:06:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:06:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:06:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:06:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:06:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:06:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 81.870[deg]	[grasp_sample.py: 539]
-05/11 03:06:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:06:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:06:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:06:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:06:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:06:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:06:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:06:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:06:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:06:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:06:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:06:52 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/11 03:06:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:06:58 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:07:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:07:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:07:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.49s (batch: 4.53s, save: 8.96s)	[pipeline.py: 300]
-05/11 03:07:06 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.52s:
-  episode_total: mean=206.45s, total=206.45s, count=1, min=206453.0ms, max=206453.0ms
-  sensor_polling: mean=521.0ms, total=150.05s, count=288, min=439.9ms, max=851.2ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8959.7ms, max=8959.7ms
-  physics_step: mean=27.9ms, total=8.04s, count=288, min=16.0ms, max=95.1ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4527.6ms, max=4527.6ms
-  task_sampling: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms
-  task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=486.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:07:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:07:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:07:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010893m	[env.py: 870]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96484687  0.95327753  0.01089252] yaw=-152.9deg	[env.py: 1019]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87740799  0.94725794  0.01089252] yaw=-154.5deg	[env.py: 1019]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83820705  0.47311714  0.01089252] yaw=179.6deg	[env.py: 1019]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.9ms	[env.py: 1075]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.953, 0.011)	[env.py: 1079]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
-05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:07:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:07:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:07:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:07:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:07:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:07:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 94.759[deg]	[grasp_sample.py: 539]
-05/11 03:07:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:07:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:07:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:07:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:07:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:07:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:07:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:07:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:07:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.96s (batch: 4.99s, save: 8.96s)	[pipeline.py: 300]
-05/11 03:07:39 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s:
-  episode_total: mean=210.28s, total=210.28s, count=1, min=210282.1ms, max=210282.1ms
-  sensor_polling: mean=515.5ms, total=154.64s, count=300, min=441.8ms, max=1211.1ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8963.9ms, max=8963.9ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=15.8ms, max=64.2ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.2ms, max=4994.2ms
-  task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms
-  task_specific_sample: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=623.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:07:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:07:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:07:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:07:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:07:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:07:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:07:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064738m	[env.py: 870]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:07:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70088042  0.4327585   0.06473847] yaw=173.7deg	[env.py: 1019]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.880786    1.0714763   0.06473847] yaw=-143.0deg	[env.py: 1019]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93744817  0.68815013  0.06473847] yaw=-163.8deg	[env.py: 1019]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:07:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms	[env.py: 1075]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.433, 0.065)	[env.py: 1079]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg	[env.py: 1082]
-05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:07:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:07:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:07:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:07:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:07:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:07:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:07:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:07:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.548[m] 89.301[deg]	[grasp_sample.py: 539]
-05/11 03:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:07:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:07:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:08:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:08:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:08:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:08:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:08:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:08:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:08:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:08:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:08:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]	[grasp_sample.py: 539]
-05/11 03:08:34 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:08:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:08:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:08:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:08:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:08:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:08:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078725m	[env.py: 870]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:08:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07308295  0.95469075  0.07872473] yaw=-140.3deg	[env.py: 1019]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03448662  0.12196193  0.07872473] yaw=157.4deg	[env.py: 1019]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68446894  0.30029017  0.07872473] yaw=158.6deg	[env.py: 1019]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:08:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms	[env.py: 1075]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.955, 0.079)	[env.py: 1079]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg	[env.py: 1082]
-05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:08:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:08:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:08:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:08:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 80.677[deg]	[grasp_sample.py: 539]
-05/11 03:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:08:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:08:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:08:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:08:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:08:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:08:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:08:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.89s (batch: 4.41s, save: 8.48s)	[pipeline.py: 300]
-05/11 03:08:53 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s:
-  episode_total: mean=207.37s, total=207.37s, count=1, min=207366.7ms, max=207366.7ms
-  sensor_polling: mean=522.3ms, total=156.70s, count=300, min=435.8ms, max=1097.4ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8478.2ms, max=8478.2ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.1ms, max=108.9ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.2ms, max=4413.2ms
-  task_sampling: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
-  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:08:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:08:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:08:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:08:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:08:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:08:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:08:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:08:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070676m	[env.py: 870]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:08:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75084534  0.39397197  0.07067601] yaw=173.8deg	[env.py: 1019]
-05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04188048  0.86430203  0.07067601] yaw=-139.5deg	[env.py: 1019]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74458593  0.85231706  0.07067601] yaw=-157.3deg	[env.py: 1019]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms	[env.py: 1075]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.394, 0.071)	[env.py: 1079]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
-05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
-05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:08:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:08:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:08:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:08:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:08:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 92.625[deg]	[grasp_sample.py: 539]
-05/11 03:08:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:08:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:08:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:08:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:09:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:09:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:09:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:09:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:10:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:10:01 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:10:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:10:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:10:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:10:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:10:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:10:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:10:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:10:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.48s (batch: 4.76s, save: 12.72s)	[pipeline.py: 300]
-05/11 03:10:44 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
-  episode_total: mean=216.51s, total=216.51s, count=1, min=216510.4ms, max=216510.4ms
-  sensor_polling: mean=534.2ms, total=160.26s, count=300, min=438.0ms, max=915.3ms
-  save_trajectories: mean=12.72s, total=12.72s, count=1, min=12717.6ms, max=12717.6ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=15.0ms, max=132.0ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4763.6ms, max=4763.6ms
-  task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=564.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:10:46 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:10:46 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:10:46 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
-05/11 03:10:46 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5368.03s
-  House averages:
-  episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms
-  sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms
-  physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms
-  save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms
-  save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms
-  task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms
-  task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 03:10:46 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 03:10:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5368.03s
-  Worker averages:
-  episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms
-  sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms
-  physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms
-  save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms
-  save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms
-  task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms
-  task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 03:10:49 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 03:10:49 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
-05/11 03:10:49 INFO: Success rate: 91.67%	[pipeline.py: 1492]
-05/11 03:10:56 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:10:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:10:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:11:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.61s (batch: 4.19s, save: 9.41s)	[pipeline.py: 300]
-05/11 03:11:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s:
-  episode_total: mean=209.84s, total=209.84s, count=1, min=209837.2ms, max=209837.2ms
-  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=440.7ms, max=940.8ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.6ms, max=9413.6ms
-  physics_step: mean=27.2ms, total=8.16s, count=300, min=16.5ms, max=118.1ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.9ms, max=4191.9ms
-  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
-  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=622.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:11:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:11:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:11:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:11:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000137m	[env.py: 870]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.05183132e-01  2.40542906e-01  1.37186199e-04] yaw=172.5deg	[env.py: 1019]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-9.95155923e-01  8.98214722e-01  1.37186199e-04] yaw=-159.0deg	[env.py: 1019]
-05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.3ms, total=415.3ms	[env.py: 1075]
-05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.241, 0.000)	[env.py: 1079]
-05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg	[env.py: 1082]
-05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:11:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:11:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:11:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:11:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.149s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:11:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.374[m] 86.570[deg]	[grasp_sample.py: 539]
-05/11 03:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:11:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:11:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:11:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:11:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:11:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:11:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.061[deg]	[grasp_sample.py: 539]
-05/11 03:11:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:11:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:11:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:11:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:11:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:11:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:11:39 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/11 03:11:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:11:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:11:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:11:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:11:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.61s (batch: 5.62s, save: 9.00s)	[pipeline.py: 300]
-05/11 03:11:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:11:54 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s:
-  episode_total: mean=174.05s, total=348.10s, count=2, min=149130.8ms, max=198969.2ms
-  sensor_polling: mean=520.0ms, total=274.54s, count=528, min=429.1ms, max=1065.3ms
-  physics_step: mean=24.9ms, total=13.16s, count=528, min=15.5ms, max=107.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=8997.7ms, max=8997.7ms
-  save_batch_prep: mean=5.62s, total=5.62s, count=1, min=5616.5ms, max=5616.5ms
-  task_sampling: mean=456.3ms, total=912.5ms, count=2, min=431.6ms, max=481.0ms
-  task_specific_sample: mean=452.4ms, total=904.9ms, count=2, min=427.7ms, max=477.2ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=417.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:11:55 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:11:56 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:11:56 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:11:56 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
-05/11 03:11:56 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5553.87s
-  House averages:
-  episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms
-  sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms
-  physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms
-  save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms
-  save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms
-  task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms
-  task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 03:11:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 03:11:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5553.87s
-  Worker averages:
-  episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms
-  sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms
-  physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms
-  save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms
-  save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms
-  task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms
-  task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 03:11:59 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 03:11:59 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
-05/11 03:11:59 INFO: Success rate: 90.91%	[pipeline.py: 1492]
-05/11 03:12:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:12:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:12:15 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:12:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.59s (batch: 4.99s, save: 7.60s)	[pipeline.py: 300]
-05/11 03:12:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
-  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.0ms, max=213981.0ms
-  sensor_polling: mean=517.5ms, total=155.26s, count=300, min=431.2ms, max=999.8ms
-  physics_step: mean=26.9ms, total=8.07s, count=300, min=16.0ms, max=109.3ms
-  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7598.1ms, max=7598.1ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.3ms, max=4994.3ms
-  task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms
-  task_specific_sample: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:12:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:12:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:12:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:12:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:12:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052698m	[env.py: 870]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14507746  1.04655104  0.05269774] yaw=-133.7deg	[env.py: 1019]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms	[env.py: 1075]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 1.047, 0.053)	[env.py: 1079]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
-05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:12:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:12:31 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:12:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:12:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:12:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:12:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 92.138[deg]	[grasp_sample.py: 539]
-05/11 03:12:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:12:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:12:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:13:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:13:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:13:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.988[deg]	[grasp_sample.py: 539]
-05/11 03:13:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:13:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:13:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:13:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:14:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:14:41 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014	[pipeline.py: 1174]
-05/11 03:14:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:14:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:14:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014	[save_utils.py: 785]
-05/11 03:14:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.53s (batch: 4.89s, save: 8.65s)	[pipeline.py: 300]
-05/11 03:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:55 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.84s:
-  episode_total: mean=222.54s, total=222.54s, count=1, min=222538.7ms, max=222538.7ms
-  sensor_polling: mean=484.5ms, total=145.34s, count=300, min=419.3ms, max=1028.8ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8646.5ms, max=8646.5ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=17.6ms, max=53.9ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.2ms, max=4888.2ms
-  task_sampling: mean=836.4ms, total=836.4ms, count=1, min=836.4ms, max=836.4ms
-  task_specific_sample: mean=832.1ms, total=832.1ms, count=1, min=832.1ms, max=832.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=511.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:56 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:14:56 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:14:56 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes	[pipeline.py: 1323]
-05/11 03:14:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5796.75s
-  House averages:
-  episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms
-  sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms
-  save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms
-  physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms
-  save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms
-  task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms
-  task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 03:14:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 03:14:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5796.75s
-  Worker averages:
-  episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms
-  sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms
-  save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms
-  physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms
-  save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms
-  task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms
-  task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 03:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:14:59 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 03:14:59 INFO: Success count: 13, Total count: 15	[pipeline.py: 1491]
-05/11 03:14:59 INFO: Success rate: 86.67%	[pipeline.py: 1492]
-05/11 03:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:15:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:15:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:15:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:15:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:15:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:15:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:15:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:15:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.276[deg]	[grasp_sample.py: 539]
-05/11 03:15:04 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:15:06 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:15:06 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
-05/11 03:15:06 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
-05/11 03:15:06 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5870.29s
-  House averages:
-  episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms
-  sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms
-  save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms
-  physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms
-  save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms
-  task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms
-  task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/11 03:15:06 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/11 03:15:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5870.29s
-  Worker averages:
-  episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms
-  sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms
-  save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms
-  physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms
-  save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms
-  task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms
-  task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/11 03:15:08 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/11 03:15:08 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
-05/11 03:15:08 INFO: Success rate: 93.33%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_014/shard_1_of_4.log b/fridge_7/chunk_014/shard_1_of_4.log
deleted file mode 100644
index a8e87c0b3d5f9fe020f81b4adb53cf7ddfcc6fc0..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_014/shard_1_of_4.log
+++ /dev/null
@@ -1,1711 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014
-  shard=1/4  seed=21401  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 02:21:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 02:21:35 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 02:21:35 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x785524fc5950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21401,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 02:21:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 02:21:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 132307084111120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132307084111120 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 132307084111120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 132307084111120 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 132307085357008 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132307085357008 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132307085359056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132307085359056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132307085359056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132307085359056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132307085357008 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132307085357008 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132307084135120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132307084135120 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 132307084136656 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132307084136656 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 132307084136656 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 132307084136656 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 132307084135120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 132307084135120 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 02:21:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 62e24c87b1f0 at 0x785525302750>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62e24c8a8d90 at 0x785524f6dc10>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62e24c8a8d90 at 0x7855252952d0>
-[05/11 02:21:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:21:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/11 02:21:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:21:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:21:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006254m
-[05/11 02:21:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:21:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 02:21:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83598799  0.77003849  0.00625384] yaw=-161.6deg
-[05/11 02:21:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:21:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78380528  0.15157504  0.00625384] yaw=169.3deg
-[05/11 02:21:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90803158  1.05521122  0.00625384] yaw=-152.5deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=152.2ms, total=166.4ms
-[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.770, 0.006)
-[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 02:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.642s
-[05/11 02:22:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:22:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 82.251[deg]
-[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:22:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:24:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 02:24:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:24:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:24:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:25:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 02:25:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:25:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.77s (batch: 3.92s, save: 7.85s)
-[05/11 02:25:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s:
-  episode_total: mean=209.30s, total=209.30s, count=1, min=209300.8ms, max=209300.8ms
-  sensor_polling: mean=460.5ms, total=138.14s, count=300, min=390.3ms, max=845.4ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=16.8ms, max=65.5ms
-  task_sampling: mean=3.94s, total=3.94s, count=1, min=3935.3ms, max=3935.3ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.9ms, max=3921.9ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  task_specific_sample: mean=443.3ms, total=443.3ms, count=1, min=443.3ms, max=443.3ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  mj_forward_sync: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  policy_setup: mean=42.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:25:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:25:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 02:25:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:25:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:25:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095102m
-[05/11 02:25:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:25:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:25:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88156688  0.15260032  0.09510248] yaw=161.1deg
-[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:25:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76970217  0.4470166   0.09510248] yaw=167.4deg
-[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9531869   0.78017159  0.09510248] yaw=-163.2deg
-[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:25:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:25:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.1ms
-[05/11 02:25:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.153, 0.095)
-[05/11 02:25:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg
-[05/11 02:25:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.884m
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:25:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 02:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/11 02:25:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:25:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:25:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:25:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True
-[05/11 02:25:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.472[m] 99.496[deg]
-[05/11 02:25:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:26:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:27:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:27:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:27:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:27:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps
-[05/11 02:27:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.487s, found feasible grasp: True
-[05/11 02:27:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.513[deg]
-[05/11 02:27:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:27:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:27:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:27:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
-[05/11 02:27:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:27:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:27:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016693m
-[05/11 02:27:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:27:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:27:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8933712   0.45328484  0.01669323] yaw=179.4deg
-[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94479764  0.41826438  0.01669323] yaw=177.6deg
-[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67350964  0.14058239  0.01669323] yaw=165.0deg
-[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:27:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:27:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.6ms
-[05/11 02:27:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.453, 0.017)
-[05/11 02:27:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg
-[05/11 02:27:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:27:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 02:27:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
-[05/11 02:27:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:27:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:27:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:27:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.412s, found feasible grasp: True
-[05/11 02:27:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.610[deg]
-[05/11 02:27:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 02:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:29:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:29:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:29:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
-[05/11 02:29:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.434s, found feasible grasp: True
-[05/11 02:29:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.181[deg]
-[05/11 02:29:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:29:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:30:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:30:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:30:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:30:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:30:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:30:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.04s (batch: 3.85s, save: 9.19s)
-[05/11 02:30:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s:
-  episode_total: mean=156.91s, total=313.81s, count=2, min=130150.6ms, max=183663.1ms
-  sensor_polling: mean=457.3ms, total=243.28s, count=532, min=372.4ms, max=890.7ms
-  physics_step: mean=23.2ms, total=12.32s, count=532, min=14.3ms, max=58.7ms
-  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9185.7ms, max=9185.7ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms
-  task_sampling: mean=337.9ms, total=675.7ms, count=2, min=311.7ms, max=364.1ms
-  task_specific_sample: mean=334.3ms, total=668.6ms, count=2, min=308.1ms, max=360.5ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
-  mj_forward_sync: mean=475.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:30:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:30:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:30:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:30:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:30:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:30:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:30:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
-[05/11 02:30:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:30:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:30:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098463m
-[05/11 02:30:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:30:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:30:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:24 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=160.4ms, total=160.5ms
-[05/11 02:30:24 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 02:30:24 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 02:30:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:30:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:30:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/11 02:30:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:30:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:30:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005358m
-[05/11 02:30:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:30:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:30:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89992377  0.43340667  0.00535837] yaw=166.9deg
-[05/11 02:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70849238  0.4744366   0.00535837] yaw=182.9deg
-[05/11 02:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:30:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:30:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms
-[05/11 02:30:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.433, 0.005)
-[05/11 02:30:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg
-[05/11 02:30:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:30:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:30:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 02:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 02:30:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:30:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:30:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 02:30:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True
-[05/11 02:30:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 85.675[deg]
-[05/11 02:30:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:30:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:31:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:32:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:33:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:33:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/11 02:33:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:33:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.17s (batch: 3.82s, save: 8.35s)
-[05/11 02:33:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
-  episode_total: mean=90.82s, total=181.63s, count=2, min=177.3ms, max=181455.7ms
-  sensor_polling: mean=454.2ms, total=132.62s, count=292, min=385.7ms, max=966.6ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.0ms, max=8350.0ms
-  physics_step: mean=22.6ms, total=6.59s, count=292, min=13.4ms, max=44.0ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.5ms, max=3816.5ms
-  task_specific_sample: mean=334.7ms, total=669.4ms, count=2, min=167.7ms, max=501.7ms
-  task_sampling: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=483.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:33:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:33:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/11 02:33:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:33:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:33:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023149m
-[05/11 02:33:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:33:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:33:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90217044  0.73016441  0.02314857] yaw=-174.0deg
-[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91349004  0.40464552  0.02314857] yaw=184.3deg
-[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:33:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79433098  0.37628759  0.02314857] yaw=177.6deg
-[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:33:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:33:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms
-[05/11 02:33:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.730, 0.023)
-[05/11 02:33:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg
-[05/11 02:33:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.838m
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:33:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 02:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 02:33:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:33:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:33:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/11 02:33:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True
-[05/11 02:33:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.400[m] 87.525[deg]
-[05/11 02:33:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:33:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:33:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:34:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:35:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:36:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:36:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:36:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:36:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:36:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:36:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.80s (batch: 3.61s, save: 8.20s)
-[05/11 02:36:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s:
-  episode_total: mean=184.63s, total=184.63s, count=1, min=184631.6ms, max=184631.6ms
-  sensor_polling: mean=453.8ms, total=136.13s, count=300, min=389.1ms, max=777.1ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.4ms, max=49.0ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.2ms, max=3607.2ms
-  task_sampling: mean=351.2ms, total=351.2ms, count=1, min=351.2ms, max=351.2ms
-  task_specific_sample: mean=347.7ms, total=347.7ms, count=1, min=347.7ms, max=347.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=366.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:36:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:36:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:36:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
-[05/11 02:36:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:36:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:36:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057089m
-[05/11 02:36:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:36:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:36:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354371  0.67923909  0.05708884] yaw=-176.1deg
-[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90971662  0.89056737  0.05708884] yaw=-148.1deg
-[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09916618  1.21215953  0.05708884] yaw=-138.1deg
-[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:36:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:36:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.7ms
-[05/11 02:36:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.679, 0.057)
-[05/11 02:36:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg
-[05/11 02:36:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:36:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:36:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 02:36:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
-[05/11 02:36:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:36:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:36:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:36:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True
-[05/11 02:36:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.324[m] 78.283[deg]
-[05/11 02:36:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:38:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:39:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:39:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:39:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
-[05/11 02:39:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:39:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:39:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.14s (batch: 4.27s, save: 9.86s)
-[05/11 02:39:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s:
-  episode_total: mean=174.31s, total=174.31s, count=1, min=174309.8ms, max=174309.8ms
-  sensor_polling: mean=454.8ms, total=129.16s, count=284, min=388.9ms, max=863.3ms
-  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.4ms, max=9863.4ms
-  physics_step: mean=23.2ms, total=6.59s, count=284, min=13.5ms, max=80.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.8ms, max=4272.8ms
-  task_sampling: mean=359.1ms, total=359.1ms, count=1, min=359.1ms, max=359.1ms
-  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:39:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:39:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:39:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 02:39:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:39:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:39:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093591m
-[05/11 02:39:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:39:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:39:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:39:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12528182  1.18467294  0.09359085] yaw=-136.6deg
-[05/11 02:39:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75397958  0.97574423  0.09359085] yaw=-151.6deg
-[05/11 02:39:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:39:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:39:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms
-[05/11 02:39:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.185, 0.094)
-[05/11 02:39:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg
-[05/11 02:39:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:39:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:39:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:39:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 02:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/11 02:39:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:39:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:39:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:39:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.760s, found feasible grasp: True
-[05/11 02:39:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.523[m] 94.268[deg]
-[05/11 02:39:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:40:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:41:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:41:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:41:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
-[05/11 02:41:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.481s, found feasible grasp: True
-[05/11 02:41:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.532[deg]
-[05/11 02:41:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:41:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 02:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:42:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:42:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:42:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:42:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.405s, found feasible grasp: True
-[05/11 02:42:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.176[m] 9.335[deg]
-[05/11 02:42:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:42:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False
-[05/11 02:42:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=False episode_total=0.47s:
-  episode_total: mean=158.01s, total=158.01s, count=1, min=158012.9ms, max=158012.9ms
-  sensor_polling: mean=444.7ms, total=133.42s, count=300, min=387.9ms, max=963.4ms
-  physics_step: mean=20.4ms, total=6.12s, count=300, min=13.8ms, max=45.0ms
-  task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms
-  task_specific_sample: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=509.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:42:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:42:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:42:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/11 02:42:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:42:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:42:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031101m
-[05/11 02:42:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:42:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:42:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66939563  0.66822278  0.03110104] yaw=-173.3deg
-[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76383959  0.22384639  0.03110104] yaw=159.2deg
-[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80078555  0.08251846  0.03110104] yaw=148.9deg
-[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:42:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:42:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms
-[05/11 02:42:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.668, 0.031)
-[05/11 02:42:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg
-[05/11 02:42:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:42:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:42:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 02:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 02:42:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:42:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:42:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 02:42:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.477s, found feasible grasp: True
-[05/11 02:42:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 88.564[deg]
-[05/11 02:42:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:44:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:44:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:44:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:44:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:45:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:45:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:45:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.19s (batch: 4.36s, save: 7.84s)
-[05/11 02:45:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
-  episode_total: mean=182.46s, total=182.46s, count=1, min=182463.7ms, max=182463.7ms
-  sensor_polling: mean=443.7ms, total=133.10s, count=300, min=374.4ms, max=855.4ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7835.8ms, max=7835.8ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.6ms, max=67.0ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.2ms, max=4357.2ms
-  task_sampling: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms
-  task_specific_sample: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=527.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:45:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:45:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:45:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/11 02:45:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:45:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:45:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012329m
-[05/11 02:45:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:45:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:45:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91643954  0.81461754  0.01232899] yaw=-167.4deg
-[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79996886  0.08772692  0.01232899] yaw=167.7deg
-[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83028889  1.0932829   0.01232899] yaw=-156.1deg
-[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:45:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:45:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms
-[05/11 02:45:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.815, 0.012)
-[05/11 02:45:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
-[05/11 02:45:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:45:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 02:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 02:45:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:45:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:45:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 02:45:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
-[05/11 02:45:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.407[m] 89.061[deg]
-[05/11 02:45:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:46:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:47:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:48:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:48:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:48:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:48:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:48:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:48:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.63s (batch: 3.93s, save: 7.70s)
-[05/11 02:48:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s:
-  episode_total: mean=180.85s, total=180.85s, count=1, min=180851.4ms, max=180851.4ms
-  sensor_polling: mean=447.4ms, total=134.22s, count=300, min=390.2ms, max=843.9ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7702.8ms, max=7702.8ms
-  physics_step: mean=20.7ms, total=6.21s, count=300, min=16.7ms, max=50.3ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3927.1ms, max=3927.1ms
-  task_sampling: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
-  task_specific_sample: mean=369.7ms, total=369.7ms, count=1, min=369.7ms, max=369.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=400.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:48:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:48:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:48:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
-[05/11 02:48:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:48:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:48:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073043m
-[05/11 02:48:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:48:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:48:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01753125  1.0064936   0.0730427 ] yaw=-153.2deg
-[05/11 02:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87744784  0.25545261  0.0730427 ] yaw=172.4deg
-[05/11 02:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:48:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:48:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms
-[05/11 02:48:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.006, 0.073)
-[05/11 02:48:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg
-[05/11 02:48:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:48:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:48:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 02:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/11 02:48:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:48:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:48:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:48:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True
-[05/11 02:48:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 90.373[deg]
-[05/11 02:48:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:50:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:50:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:50:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:51:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:51:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:51:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:51:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:51:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:51:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.97s (batch: 3.82s, save: 8.15s)
-[05/11 02:51:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
-  episode_total: mean=193.19s, total=193.19s, count=1, min=193191.7ms, max=193191.7ms
-  sensor_polling: mean=458.8ms, total=137.64s, count=300, min=400.7ms, max=679.8ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.5ms, max=8152.5ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.8ms, max=73.9ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3819.6ms, max=3819.6ms
-  task_sampling: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms
-  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:51:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:51:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
-[05/11 02:51:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:51:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:51:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037868m
-[05/11 02:51:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:51:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:51:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:51:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78851174  0.30603484  0.03786768] yaw=177.3deg
-[05/11 02:51:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:51:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
-[05/11 02:51:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.306, 0.038)
-[05/11 02:51:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg
-[05/11 02:51:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:51:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/11 02:51:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:51:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:51:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:51:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
-[05/11 02:51:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.514[m] 91.263[deg]
-[05/11 02:51:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:52:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:52:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:52:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:54:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:54:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:54:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/11 02:54:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.416s, found feasible grasp: True
-[05/11 02:54:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.427[deg]
-[05/11 02:54:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:54:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:54:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:54:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:54:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:54:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:54:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:54:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.51s (batch: 4.00s, save: 10.52s)
-[05/11 02:54:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
-  episode_total: mean=198.70s, total=198.70s, count=1, min=198699.1ms, max=198699.1ms
-  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=393.2ms, max=718.3ms
-  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10516.2ms, max=10516.2ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=13.3ms, max=58.0ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.6ms, max=3995.6ms
-  task_sampling: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms
-  task_specific_sample: mean=419.9ms, total=419.9ms, count=1, min=419.9ms, max=419.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:54:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:54:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:54:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:54:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:54:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:54:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:54:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
-[05/11 02:54:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:54:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:54:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099543m
-[05/11 02:54:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:54:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:54:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:54:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79383475  0.79523743  0.09954261] yaw=-172.0deg
-[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98242657  0.93334811  0.09954261] yaw=-156.4deg
-[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:54:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79847742  0.80906667  0.09954261] yaw=-159.5deg
-[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:54:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:54:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=458.4ms, total=458.4ms
-[05/11 02:54:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.795, 0.100)
-[05/11 02:54:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg
-[05/11 02:54:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m
-[05/11 02:54:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:54:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:54:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:54:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:54:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:54:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.129s
-[05/11 02:54:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:54:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:54:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps
-[05/11 02:54:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True
-[05/11 02:54:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.517[m] 90.895[deg]
-[05/11 02:54:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:57:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:58:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:58:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 02:58:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:58:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:58:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:58:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.34s, save: 8.68s)
-[05/11 02:58:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.77s:
-  episode_total: mean=209.21s, total=209.21s, count=1, min=209212.2ms, max=209212.2ms
-  sensor_polling: mean=511.9ms, total=153.56s, count=300, min=401.6ms, max=1251.8ms
-  save_trajectories: mean=8.68s, total=8.68s, count=1, min=8679.4ms, max=8679.4ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.7ms, max=91.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.9ms, max=4336.9ms
-  task_sampling: mean=771.5ms, total=771.5ms, count=1, min=771.5ms, max=771.5ms
-  task_specific_sample: mean=767.2ms, total=767.2ms, count=1, min=767.2ms, max=767.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=831.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:58:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:58:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:58:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
-[05/11 02:58:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:58:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:58:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027234m
-[05/11 02:58:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:58:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:58:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6527338   0.40810309  0.02723366] yaw=184.5deg
-[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07280929  0.92833791  0.02723366] yaw=-142.1deg
-[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2032377   1.08133798  0.02723366] yaw=-125.9deg
-[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:58:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:58:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms
-[05/11 02:58:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.408, 0.027)
-[05/11 02:58:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg
-[05/11 02:58:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.052m
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:58:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:58:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/11 02:58:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:58:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:58:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 02:58:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.643s, found feasible grasp: True
-[05/11 02:58:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.602[m] 88.174[deg]
-[05/11 02:58:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:01:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:01:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:01:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 03:01:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:01:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:01:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:01:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.68s, save: 8.35s)
-[05/11 03:01:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.54s, total=208.54s, count=1, min=208540.0ms, max=208540.0ms
-  sensor_polling: mean=514.6ms, total=154.38s, count=300, min=430.0ms, max=1086.4ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.4ms, max=8345.4ms
-  physics_step: mean=24.2ms, total=7.25s, count=300, min=18.6ms, max=82.8ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.8ms, max=4677.8ms
-  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
-  task_specific_sample: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=669.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:01:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:01:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:01:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/11 03:01:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:01:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:01:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084366m
-[05/11 03:01:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:01:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:01:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60560778  0.509178    0.08436632] yaw=-183.3deg
-[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74689134  0.17667097  0.08436632] yaw=171.8deg
-[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81463441  0.42339861  0.08436632] yaw=185.8deg
-[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:01:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:01:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=409.4ms, total=409.4ms
-[05/11 03:01:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.606, 0.509, 0.084)
-[05/11 03:01:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg
-[05/11 03:01:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.097m
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:01:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:01:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 03:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
-[05/11 03:01:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:01:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:01:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.166s, found 88 non-colliding grasps
-[05/11 03:01:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.315s, found feasible grasp: True
-[05/11 03:01:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.672[m] 93.667[deg]
-[05/11 03:01:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:01:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:01:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:03:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:04:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:05:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:05:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 03:05:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:05:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:05:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:05:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 15.37s (batch: 5.04s, save: 10.33s)
-[05/11 03:05:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.71s:
-  episode_total: mean=211.03s, total=211.03s, count=1, min=211025.1ms, max=211025.1ms
-  sensor_polling: mean=517.9ms, total=155.38s, count=300, min=440.6ms, max=911.3ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10327.2ms, max=10327.2ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=17.6ms, max=115.1ms
-  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5040.7ms, max=5040.7ms
-  task_sampling: mean=707.3ms, total=707.3ms, count=1, min=707.3ms, max=707.3ms
-  task_specific_sample: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=503.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:05:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:05:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:05:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:05:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:05:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:05:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:05:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/11 03:05:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:05:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:05:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011440m
-[05/11 03:05:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:05:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:05:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:05:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90244027  0.91898637  0.01144   ] yaw=-161.4deg
-[05/11 03:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94999581  1.23453272  0.01144   ] yaw=-132.6deg
-[05/11 03:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms
-[05/11 03:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.919, 0.011)
-[05/11 03:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg
-[05/11 03:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
-[05/11 03:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:05:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:05:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 03:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
-[05/11 03:05:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:05:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:05:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
-[05/11 03:05:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
-[05/11 03:05:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.497[m] 94.956[deg]
-[05/11 03:05:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:08:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:08:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:08:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 03:08:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:08:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:08:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:08:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.89s (batch: 4.41s, save: 8.48s)
-[05/11 03:08:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s:
-  episode_total: mean=207.37s, total=207.37s, count=1, min=207366.7ms, max=207366.7ms
-  sensor_polling: mean=522.3ms, total=156.70s, count=300, min=435.8ms, max=1097.4ms
-  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8478.2ms, max=8478.2ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.1ms, max=108.9ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.2ms, max=4413.2ms
-  task_sampling: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
-  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:08:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:08:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:08:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:08:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:08:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:08:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/11 03:08:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:08:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:08:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070676m
-[05/11 03:08:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:08:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:08:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:08:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:08:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75084534  0.39397197  0.07067601] yaw=173.8deg
-[05/11 03:08:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:08:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:08:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04188048  0.86430203  0.07067601] yaw=-139.5deg
-[05/11 03:08:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:08:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74458593  0.85231706  0.07067601] yaw=-157.3deg
-[05/11 03:08:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:08:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:08:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms
-[05/11 03:08:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.394, 0.071)
-[05/11 03:08:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg
-[05/11 03:08:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.956m
-[05/11 03:08:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:08:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:08:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:08:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:08:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:08:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 03:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 03:08:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:08:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:08:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/11 03:08:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True
-[05/11 03:08:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.502[m] 92.625[deg]
-[05/11 03:08:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:09:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:11:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:11:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:11:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:11:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/11 03:11:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True
-[05/11 03:11:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.061[deg]
-[05/11 03:11:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:11:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:12:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:12:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes
-[05/11 03:12:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:12:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:12:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:12:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.59s (batch: 4.99s, save: 7.60s)
-[05/11 03:12:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
-  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.0ms, max=213981.0ms
-  sensor_polling: mean=517.5ms, total=155.26s, count=300, min=431.2ms, max=999.8ms
-  physics_step: mean=26.9ms, total=8.07s, count=300, min=16.0ms, max=109.3ms
-  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7598.1ms, max=7598.1ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.3ms, max=4994.3ms
-  task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms
-  task_specific_sample: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:12:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:12:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:12:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 03:12:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:12:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:12:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052698m
-[05/11 03:12:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:12:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:12:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:12:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14507746  1.04655104  0.05269774] yaw=-133.7deg
-[05/11 03:12:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:12:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:12:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms
-[05/11 03:12:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.145, 1.047, 0.053)
-[05/11 03:12:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
-[05/11 03:12:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:12:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:12:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 03:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 03:12:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:12:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:12:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 03:12:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True
-[05/11 03:12:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 92.138[deg]
-[05/11 03:12:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:13:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:14:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:15:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:15:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:15:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps
-[05/11 03:15:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True
-[05/11 03:15:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.276[deg]
-[05/11 03:15:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:15:06 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:15:06 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:15:06 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes
-[05/11 03:15:06 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5870.29s
-  House averages:
-  episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms
-  sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms
-  save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms
-  physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms
-  save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms
-  task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms
-  task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:15:06 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 03:15:06 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5870.29s
-  Worker averages:
-  episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms
-  sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms
-  save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms
-  physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms
-  save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms
-  task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms
-  task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms
-  scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms
-  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms
-  scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms
-  compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms
-  compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms
-  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
-  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
-  scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
-  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms
-  asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms
-  compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms
-  mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms
-  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:15:08 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 03:15:08 INFO pipeline.py:1491] Success count: 14, Total count: 15
-[05/11 03:15:08 INFO pipeline.py:1492] Success rate: 93.33%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014
-==========================================
diff --git a/fridge_7/chunk_014/shard_2_of_4.log b/fridge_7/chunk_014/shard_2_of_4.log
deleted file mode 100644
index c858a94e3aca519321049ad7cef997668e51bcb8..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_014/shard_2_of_4.log
+++ /dev/null
@@ -1,1759 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014
-  shard=2/4  seed=21402  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:36 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 02:21:36 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 02:21:36 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 02:21:36 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f74bede35d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21402,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 02:21:36 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 02:21:36 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 140139397237648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140139397237648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 140139397237648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 140139397237648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 140139393332816 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140139393332816 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140139393333968 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140139393333968 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140139393333968 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140139393333968 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140139393332816 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140139393332816 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140139395303952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140139395303952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 140139395312208 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140139395312208 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 140139395312208 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 140139395312208 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 140139395303952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 140139395303952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 02:21:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 603d97cdc130 at 0x7f74bf39df90>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 603d97d09cd0 at 0x7f74bf1c2990>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 603d97d09cd0 at 0x7f74bf330810>
-[05/11 02:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054232m
-[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69300933  0.2800372   0.05423242] yaw=160.5deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88435463  0.8255364   0.05423242] yaw=-148.1deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90941967  0.54402711  0.05423242] yaw=-169.2deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.9ms, retries=181.0ms, total=196.9ms
-[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.280, 0.054)
-[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 02:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.042s
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.610[m] 95.830[deg]
-[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:23:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:23:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:23:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:23:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps
-[05/11 02:23:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.081s, found feasible grasp: True
-[05/11 02:23:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.308[deg]
-[05/11 02:23:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:24:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:24:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:24:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:24:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:24:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
-[05/11 02:24:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.452s, found feasible grasp: True
-[05/11 02:24:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.957[deg]
-[05/11 02:24:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 02:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 02:24:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:24:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:24:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps
-[05/11 02:24:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.189s, found feasible grasp: True
-[05/11 02:24:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.422[deg]
-[05/11 02:24:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:24:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:24:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:24:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
-[05/11 02:24:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=3.24s:
-  episode_total: mean=201.30s, total=201.30s, count=1, min=201301.4ms, max=201301.4ms
-  sensor_polling: mean=445.0ms, total=133.50s, count=300, min=377.0ms, max=696.5ms
-  physics_step: mean=19.9ms, total=5.96s, count=300, min=12.6ms, max=45.3ms
-  task_sampling: mean=3.24s, total=3.24s, count=1, min=3236.2ms, max=3236.2ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  task_specific_sample: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=417.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:24:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:24:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:24:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
-[05/11 02:24:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:24:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:24:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072221m
-[05/11 02:24:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:24:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:24:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:24:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84476854  0.98224384  0.07222075] yaw=-161.1deg
-[05/11 02:24:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:24:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82597604  0.2837376   0.07222075] yaw=157.0deg
-[05/11 02:24:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:24:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:24:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.6ms
-[05/11 02:24:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.982, 0.072)
-[05/11 02:24:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg
-[05/11 02:24:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:24:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:25:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 02:25:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/11 02:25:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:25:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:25:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:25:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.221s, found feasible grasp: True
-[05/11 02:25:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.592[m] 73.718[deg]
-[05/11 02:25:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:26:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:27:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 02:27:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:27:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:27:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:27:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 02:27:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:27:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.51s (batch: 4.14s, save: 7.37s)
-[05/11 02:27:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
-  episode_total: mean=180.27s, total=180.27s, count=1, min=180273.2ms, max=180273.2ms
-  sensor_polling: mean=452.6ms, total=135.78s, count=300, min=372.3ms, max=833.7ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.4ms, max=7368.4ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=13.9ms, max=50.2ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.7ms, max=4142.7ms
-  task_sampling: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms
-  task_specific_sample: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=377.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:28:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:28:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/11 02:28:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:28:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:28:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087004m
-[05/11 02:28:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:28:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:28:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75258192  0.50092627  0.0870044 ] yaw=-170.4deg
-[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:28:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74706423  0.3895745   0.0870044 ] yaw=163.3deg
-[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:28:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85598613  0.22216448  0.0870044 ] yaw=152.3deg
-[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:28:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:28:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.3ms
-[05/11 02:28:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.501, 0.087)
-[05/11 02:28:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg
-[05/11 02:28:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:28:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 02:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:28:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True
-[05/11 02:28:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 76.426[deg]
-[05/11 02:28:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:30:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:30:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:30:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:30:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:30:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:30:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
-[05/11 02:30:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.492s, found feasible grasp: True
-[05/11 02:30:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.169[deg]
-[05/11 02:30:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:30:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:30:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:30:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:31:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:31:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:31:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:31:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:31:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:31:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.76s (batch: 4.00s, save: 7.76s)
-[05/11 02:31:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s:
-  episode_total: mean=211.66s, total=211.66s, count=1, min=211661.5ms, max=211661.5ms
-  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=388.5ms, max=902.2ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7758.7ms, max=7758.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=13.1ms, max=43.2ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.4ms, max=3999.4ms
-  task_sampling: mean=319.3ms, total=319.3ms, count=1, min=319.3ms, max=319.3ms
-  task_specific_sample: mean=315.7ms, total=315.7ms, count=1, min=315.7ms, max=315.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=364.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:31:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:31:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:31:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)
-[05/11 02:31:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:31:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:31:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079612m
-[05/11 02:31:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:31:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:31:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:31:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78420299  0.63615305  0.0796125 ] yaw=-180.6deg
-[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13737818  1.08059659  0.0796125 ] yaw=-134.8deg
-[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06079922  0.93984719  0.0796125 ] yaw=-149.5deg
-[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:31:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:31:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.4ms
-[05/11 02:31:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.636, 0.080)
-[05/11 02:31:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg
-[05/11 02:31:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:31:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:31:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:31:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 02:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/11 02:31:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True
-[05/11 02:31:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.460[m] 84.036[deg]
-[05/11 02:31:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:34:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:34:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:34:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:34:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:34:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:34:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:34:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.41s (batch: 4.14s, save: 9.27s)
-[05/11 02:34:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.68s, total=181.68s, count=1, min=181678.0ms, max=181678.0ms
-  sensor_polling: mean=457.1ms, total=137.13s, count=300, min=381.7ms, max=767.9ms
-  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9268.7ms, max=9268.7ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.6ms, max=66.9ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.6ms, max=4141.6ms
-  task_sampling: mean=395.1ms, total=395.1ms, count=1, min=395.1ms, max=395.1ms
-  task_specific_sample: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:34:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:34:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:34:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
-[05/11 02:34:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:34:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:34:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084902m
-[05/11 02:34:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:34:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:34:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:34:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0400889   0.86388119  0.08490167] yaw=-159.2deg
-[05/11 02:34:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:34:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98715516  1.25390261  0.08490167] yaw=-122.5deg
-[05/11 02:34:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:34:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:34:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms
-[05/11 02:34:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.864, 0.085)
-[05/11 02:34:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg
-[05/11 02:34:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:34:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:34:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:34:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 02:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
-[05/11 02:34:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:34:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:34:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 02:34:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True
-[05/11 02:34:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 89.143[deg]
-[05/11 02:34:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:35:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:37:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:37:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:37:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:37:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/11 02:37:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:37:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:37:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 10.82s (batch: 3.52s, save: 7.29s)
-[05/11 02:37:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
-  episode_total: mean=173.98s, total=173.98s, count=1, min=173980.6ms, max=173980.6ms
-  sensor_polling: mean=461.4ms, total=134.73s, count=292, min=388.6ms, max=761.5ms
-  save_trajectories: mean=7.29s, total=7.29s, count=1, min=7293.8ms, max=7293.8ms
-  physics_step: mean=21.2ms, total=6.19s, count=292, min=13.7ms, max=63.6ms
-  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.3ms, max=3524.3ms
-  task_sampling: mean=462.0ms, total=462.0ms, count=1, min=462.0ms, max=462.0ms
-  task_specific_sample: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=377.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:37:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:37:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:37:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
-[05/11 02:37:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:37:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:37:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089728m
-[05/11 02:37:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:37:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:37:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18807468  1.04700973  0.08972793] yaw=-142.9deg
-[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12251831  0.98790223  0.08972793] yaw=-147.9deg
-[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72808006 -0.00122954  0.08972793] yaw=162.7deg
-[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:37:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:37:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms
-[05/11 02:37:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.047, 0.090)
-[05/11 02:37:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg
-[05/11 02:37:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:37:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:37:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 02:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/11 02:37:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:37:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:37:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:37:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True
-[05/11 02:37:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.341[m] 81.397[deg]
-[05/11 02:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:39:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:39:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:39:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:39:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
-[05/11 02:39:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.519s, found feasible grasp: True
-[05/11 02:39:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.406[deg]
-[05/11 02:39:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:39:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:39:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:39:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
-[05/11 02:39:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:39:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:39:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036693m
-[05/11 02:39:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:39:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:39:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74754708  0.76089117  0.03669274] yaw=-156.0deg
-[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80834344  0.32818121  0.03669274] yaw=169.7deg
-[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:39:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90698341  0.65376373  0.03669274] yaw=-175.1deg
-[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:39:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:39:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.4ms
-[05/11 02:39:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.761, 0.037)
-[05/11 02:39:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg
-[05/11 02:39:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.995m
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:39:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:39:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:39:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 02:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s
-[05/11 02:39:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:39:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:39:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps
-[05/11 02:39:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.297s, found feasible grasp: True
-[05/11 02:39:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 91.158[deg]
-[05/11 02:39:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:40:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:42:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:42:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:42:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:42:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:42:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:42:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:42:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.46s (batch: 4.08s, save: 8.38s)
-[05/11 02:42:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.08s:
-  episode_total: mean=159.92s, total=319.84s, count=2, min=138047.3ms, max=181792.0ms
-  sensor_polling: mean=451.9ms, total=248.56s, count=550, min=386.5ms, max=994.7ms
-  physics_step: mean=21.0ms, total=11.53s, count=550, min=15.0ms, max=68.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.7ms, max=4076.7ms
-  task_sampling: mean=538.1ms, total=1.08s, count=2, min=446.5ms, max=629.6ms
-  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=443.0ms, max=625.3ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.2ms, max=2.3ms
-  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:42:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:42:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:42:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
-[05/11 02:42:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:42:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:42:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009806m
-[05/11 02:42:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:42:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:42:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:42:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74702542  0.9272043   0.00980555] yaw=-162.0deg
-[05/11 02:42:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:42:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270977  1.26076053  0.00980555] yaw=-127.9deg
-[05/11 02:42:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:42:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:42:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms
-[05/11 02:42:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.927, 0.010)
-[05/11 02:42:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
-[05/11 02:42:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:42:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:42:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 02:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
-[05/11 02:42:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:42:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:42:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/11 02:43:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.479s, found feasible grasp: True
-[05/11 02:43:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.634[m] 88.835[deg]
-[05/11 02:43:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:44:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:45:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:45:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:45:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:45:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:46:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:46:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:46:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.88s (batch: 3.94s, save: 8.94s)
-[05/11 02:46:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
-  episode_total: mean=186.17s, total=186.17s, count=1, min=186174.8ms, max=186174.8ms
-  sensor_polling: mean=449.3ms, total=134.78s, count=300, min=387.0ms, max=835.5ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.2ms, max=8940.2ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=94.8ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.5ms, max=3935.5ms
-  task_sampling: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
-  task_specific_sample: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=588.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:46:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:46:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:46:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/11 02:46:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:46:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:46:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012958m
-[05/11 02:46:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:46:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:46:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86632894  1.18196708  0.01295842] yaw=-132.5deg
-[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90974515  0.09898569  0.01295842] yaw=153.1deg
-[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66973585  0.51128947  0.01295842] yaw=-170.3deg
-[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:46:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:46:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms
-[05/11 02:46:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.866, 1.182, 0.013)
-[05/11 02:46:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg
-[05/11 02:46:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m
-[05/11 02:46:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:46:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:46:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:46:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:46:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:46:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 02:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 02:46:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:46:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:46:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:46:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.203s, found feasible grasp: True
-[05/11 02:46:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 538, in compute_grasp_pose
-    original_grasp_idx = grasp_idx % (len(grasp_poses_world) // 2)
-                         ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-TypeError: unsupported operand type(s) for %: 'NoneType' and 'int'
-[05/11 02:46:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:46:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:46:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
-[05/11 02:46:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:46:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:46:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089093m
-[05/11 02:46:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:46:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:46:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86102986  0.82982191  0.08909347] yaw=-149.0deg
-[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84275858  0.23723363  0.08909347] yaw=171.7deg
-[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0749041   1.14063254  0.08909347] yaw=-143.6deg
-[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:46:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:46:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms
-[05/11 02:46:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.830, 0.089)
-[05/11 02:46:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg
-[05/11 02:46:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:46:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:46:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:46:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:46:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True
-[05/11 02:46:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.526[m] 99.681[deg]
-[05/11 02:46:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:46:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:47:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:48:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:48:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:48:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:48:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:49:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:49:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:49:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.58s (batch: 4.21s, save: 9.37s)
-[05/11 02:49:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.72s:
-  episode_total: mean=92.35s, total=184.71s, count=2, min=3729.4ms, max=180977.1ms
-  sensor_polling: mean=451.0ms, total=135.30s, count=300, min=387.0ms, max=949.8ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9369.1ms, max=9369.1ms
-  physics_step: mean=20.6ms, total=6.18s, count=300, min=13.7ms, max=35.5ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4206.1ms, max=4206.1ms
-  task_sampling: mean=359.9ms, total=719.8ms, count=2, min=318.4ms, max=401.4ms
-  task_specific_sample: mean=356.9ms, total=713.8ms, count=2, min=315.8ms, max=398.0ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=364.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:49:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:49:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:49:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/11 02:49:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:49:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:49:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083963m
-[05/11 02:49:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:49:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:49:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790689  0.08961169  0.08396345] yaw=148.8deg
-[05/11 02:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93962969  0.36751884  0.08396345] yaw=176.1deg
-[05/11 02:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:49:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:49:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.1ms
-[05/11 02:49:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.090, 0.084)
-[05/11 02:49:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg
-[05/11 02:49:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:49:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 02:49:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 02:49:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:49:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:49:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 02:49:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.672s, found feasible grasp: True
-[05/11 02:49:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.354[m] 91.163[deg]
-[05/11 02:49:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:49:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:49:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:50:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:50:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:51:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:51:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:51:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:51:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:51:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:51:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps
-[05/11 02:51:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True
-[05/11 02:51:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.270[deg]
-[05/11 02:51:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:51:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:51:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/11 02:51:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:51:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:51:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007843m
-[05/11 02:51:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:51:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:51:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93806868  0.64586717  0.00784276] yaw=-157.2deg
-[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74378501  0.05424597  0.00784276] yaw=145.3deg
-[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82582189  0.82551053  0.00784276] yaw=-169.4deg
-[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:51:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:51:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.6ms
-[05/11 02:51:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.646, 0.008)
-[05/11 02:51:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg
-[05/11 02:51:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:51:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 02:51:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:51:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:51:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/11 02:51:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
-[05/11 02:51:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.098[deg]
-[05/11 02:51:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:51:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:53:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:54:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:54:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 02:54:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/11 02:54:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:54:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:54:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.60s (batch: 3.55s, save: 10.05s)
-[05/11 02:54:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
-  episode_total: mean=150.30s, total=300.61s, count=2, min=122645.6ms, max=177963.7ms
-  sensor_polling: mean=452.9ms, total=220.55s, count=487, min=364.9ms, max=760.8ms
-  physics_step: mean=21.2ms, total=10.31s, count=487, min=14.0ms, max=59.7ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10051.7ms, max=10051.7ms
-  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.0ms, max=3551.0ms
-  task_sampling: mean=409.5ms, total=819.0ms, count=2, min=367.4ms, max=451.6ms
-  task_specific_sample: mean=406.1ms, total=812.2ms, count=2, min=364.3ms, max=447.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=382.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:54:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:54:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:54:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:54:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:54:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:54:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:54:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 02:54:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:54:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:54:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052875m
-[05/11 02:54:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:54:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:54:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61688734  0.4427823   0.05287452] yaw=174.7deg
-[05/11 02:54:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:54:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94800678  1.2667643   0.05287452] yaw=-136.3deg
-[05/11 02:54:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:54:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:54:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms
-[05/11 02:54:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.443, 0.053)
-[05/11 02:54:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg
-[05/11 02:54:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m
-[05/11 02:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:54:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:54:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:54:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
-[05/11 02:54:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:54:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:54:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
-[05/11 02:54:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True
-[05/11 02:54:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.658[m] 94.759[deg]
-[05/11 02:54:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:55:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:56:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:56:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:56:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:56:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:56:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps
-[05/11 02:56:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.465s, found feasible grasp: True
-[05/11 02:56:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.388[deg]
-[05/11 02:56:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:56:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:56:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:57:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
-[05/11 02:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.46s:
-  episode_total: mean=173.17s, total=173.17s, count=1, min=173169.7ms, max=173169.7ms
-  sensor_polling: mean=491.1ms, total=147.34s, count=300, min=395.7ms, max=1070.7ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=14.9ms, max=110.3ms
-  task_sampling: mean=460.0ms, total=460.0ms, count=1, min=460.0ms, max=460.0ms
-  task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=439.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 02:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032276m
-[05/11 02:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82739736  0.53924802  0.03227582] yaw=-167.4deg
-[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85671526  0.29915667  0.03227582] yaw=156.4deg
-[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77188782  0.13267965  0.03227582] yaw=170.4deg
-[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.8ms
-[05/11 02:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.539, 0.032)
-[05/11 02:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
-[05/11 02:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:57:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:57:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:57:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:57:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:57:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
-[05/11 02:57:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
-[05/11 02:57:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 85.622[deg]
-[05/11 02:57:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:57:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:57:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:59:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:00:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:00:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 03:00:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:00:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:00:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:00:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.73s (batch: 4.53s, save: 8.20s)
-[05/11 03:00:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
-  episode_total: mean=208.73s, total=208.73s, count=1, min=208726.2ms, max=208726.2ms
-  sensor_polling: mean=515.1ms, total=154.54s, count=300, min=438.0ms, max=908.4ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.0ms, max=8195.0ms
-  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=58.6ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.5ms, max=4530.5ms
-  task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms
-  task_specific_sample: mean=502.5ms, total=502.5ms, count=1, min=502.5ms, max=502.5ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:00:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:00:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:00:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/11 03:00:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:00:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:00:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003110m
-[05/11 03:00:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:00:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:00:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94693642  0.56150217  0.00310969] yaw=-173.2deg
-[05/11 03:00:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82445238  0.91273533  0.00310969] yaw=-147.4deg
-[05/11 03:00:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:00:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:00:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=393.4ms, total=393.4ms
-[05/11 03:00:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.562, 0.003)
-[05/11 03:00:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg
-[05/11 03:00:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:00:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:00:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:00:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 03:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.144s
-[05/11 03:00:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:00:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:00:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 03:00:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True
-[05/11 03:00:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.305[m] 87.262[deg]
-[05/11 03:00:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:03:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:03:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:03:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 03:03:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 282 timesteps
-[05/11 03:04:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:04:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:04:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.43s (batch: 4.59s, save: 9.85s)
-[05/11 03:04:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.74s:
-  episode_total: mean=204.64s, total=204.64s, count=1, min=204639.0ms, max=204639.0ms
-  sensor_polling: mean=521.1ms, total=146.42s, count=281, min=447.2ms, max=1060.1ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9845.3ms, max=9845.3ms
-  physics_step: mean=26.8ms, total=7.54s, count=281, min=18.2ms, max=100.4ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms
-  task_sampling: mean=744.1ms, total=744.1ms, count=1, min=744.1ms, max=744.1ms
-  task_specific_sample: mean=739.2ms, total=739.2ms, count=1, min=739.2ms, max=739.2ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=742.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
-[05/11 03:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087360m
-[05/11 03:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92874538  1.03523613  0.08736023] yaw=-148.7deg
-[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96007145  0.28736269  0.08736023] yaw=160.6deg
-[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92292985  0.38958348  0.08736023] yaw=179.1deg
-[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.4ms
-[05/11 03:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.035, 0.087)
-[05/11 03:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg
-[05/11 03:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 03:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.199s
-[05/11 03:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.190s, found 88 non-colliding grasps
-[05/11 03:04:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.142s, found feasible grasp: True
-[05/11 03:04:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.907[deg]
-[05/11 03:04:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:06:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:07:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:07:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 03:07:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:07:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:07:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:07:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.96s (batch: 4.99s, save: 8.96s)
-[05/11 03:07:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s:
-  episode_total: mean=210.28s, total=210.28s, count=1, min=210282.1ms, max=210282.1ms
-  sensor_polling: mean=515.5ms, total=154.64s, count=300, min=441.8ms, max=1211.1ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8963.9ms, max=8963.9ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=15.8ms, max=64.2ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.2ms, max=4994.2ms
-  task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms
-  task_specific_sample: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=623.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:07:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:07:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:07:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 03:07:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:07:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:07:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064738m
-[05/11 03:07:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:07:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:07:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70088042  0.4327585   0.06473847] yaw=173.7deg
-[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.880786    1.0714763   0.06473847] yaw=-143.0deg
-[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93744817  0.68815013  0.06473847] yaw=-163.8deg
-[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:07:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:07:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms
-[05/11 03:07:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.433, 0.065)
-[05/11 03:07:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg
-[05/11 03:07:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.003m
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:07:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:07:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 03:07:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
-[05/11 03:07:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:07:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:07:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/11 03:07:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True
-[05/11 03:07:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.548[m] 89.301[deg]
-[05/11 03:07:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:10:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:10:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:10:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 03:10:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:11:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:11:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:11:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.61s (batch: 4.19s, save: 9.41s)
-[05/11 03:11:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s:
-  episode_total: mean=209.84s, total=209.84s, count=1, min=209837.2ms, max=209837.2ms
-  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=440.7ms, max=940.8ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.6ms, max=9413.6ms
-  physics_step: mean=27.2ms, total=8.16s, count=300, min=16.5ms, max=118.1ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.9ms, max=4191.9ms
-  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
-  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=622.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:11:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:11:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:11:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:11:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:11:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:11:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:11:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/11 03:11:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:11:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:11:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000137m
-[05/11 03:11:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:11:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:11:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:11:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.05183132e-01  2.40542906e-01  1.37186199e-04] yaw=172.5deg
-[05/11 03:11:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:11:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-9.95155923e-01  8.98214722e-01  1.37186199e-04] yaw=-159.0deg
-[05/11 03:11:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.3ms, total=415.3ms
-[05/11 03:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.241, 0.000)
-[05/11 03:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg
-[05/11 03:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
-[05/11 03:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:11:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:11:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 03:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.158s
-[05/11 03:11:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:11:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:11:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
-[05/11 03:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.149s, found feasible grasp: True
-[05/11 03:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.374[m] 86.570[deg]
-[05/11 03:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:12:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:12:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:13:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
-[05/11 03:13:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.421s, found feasible grasp: True
-[05/11 03:13:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.988[deg]
-[05/11 03:13:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:14:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:14:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:14:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes
-[05/11 03:14:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:14:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:14:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:14:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.53s (batch: 4.89s, save: 8.65s)
-[05/11 03:14:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.84s:
-  episode_total: mean=222.54s, total=222.54s, count=1, min=222538.7ms, max=222538.7ms
-  sensor_polling: mean=484.5ms, total=145.34s, count=300, min=419.3ms, max=1028.8ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8646.5ms, max=8646.5ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=17.6ms, max=53.9ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.2ms, max=4888.2ms
-  task_sampling: mean=836.4ms, total=836.4ms, count=1, min=836.4ms, max=836.4ms
-  task_specific_sample: mean=832.1ms, total=832.1ms, count=1, min=832.1ms, max=832.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=511.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:14:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:14:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:14:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/15 successful episodes
-[05/11 03:14:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5796.75s
-  House averages:
-  episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms
-  sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms
-  save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms
-  physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms
-  save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms
-  task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms
-  task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:14:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 03:14:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5796.75s
-  Worker averages:
-  episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms
-  sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms
-  save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms
-  physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms
-  save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms
-  task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms
-  task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms
-  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms
-  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms
-  scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms
-  compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
-  compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms
-  scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
-  compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
-  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
-  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
-  mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
-  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:14:59 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 03:14:59 INFO pipeline.py:1491] Success count: 13, Total count: 15
-[05/11 03:14:59 INFO pipeline.py:1492] Success rate: 86.67%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014
-==========================================
diff --git a/fridge_7/chunk_014/shard_3_of_4.log b/fridge_7/chunk_014/shard_3_of_4.log
deleted file mode 100644
index 089dff82745c8b96286c6bc232cffc24549b891c..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_014/shard_3_of_4.log
+++ /dev/null
@@ -1,1824 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014
-  shard=3/4  seed=21403  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 02:21:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 02:21:35 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 02:21:35 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7183aa28b190>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21403,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 02:21:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 02:21:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 124810307768784 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124810307768784 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 124810307768784 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 124810307768784 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 124810309662096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124810309662096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124810309654736 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124810309654736 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124810309654736 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124810309654736 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124810309662096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124810309662096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124810307797264 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124810307797264 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 124810307798416 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124810307798416 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 124810307798416 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 124810307798416 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 124810307797264 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 124810307797264 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 02:21:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6192709d5c20 at 0x7183aa773210>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 619270a234c0 at 0x7183aa782cd0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 619270a234c0 at 0x7183aa901a90>
-[05/11 02:21:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013416m
-[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69721468  0.10266618  0.01341643] yaw=167.0deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80623151  1.05066672  0.01341643] yaw=-153.0deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01906921  1.25750828  0.01341643] yaw=-122.1deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=42.8ms, retries=200.3ms, total=243.2ms
-[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.103, 0.013)
-[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 02:22:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.193s
-[05/11 02:22:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:22:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:22:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.595s, found feasible grasp: True
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 91.126[deg]
-[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:23:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:24:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 02:24:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:24:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:24:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:25:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 02:25:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:25:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.78s (batch: 4.03s, save: 7.75s)
-[05/11 02:25:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s:
-  episode_total: mean=210.33s, total=210.33s, count=1, min=210325.4ms, max=210325.4ms
-  sensor_polling: mean=461.6ms, total=138.48s, count=300, min=389.0ms, max=749.3ms
-  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7748.4ms, max=7748.4ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.9ms, max=62.0ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.5ms, max=4029.5ms
-  task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  task_specific_sample: mean=587.4ms, total=587.4ms, count=1, min=587.4ms, max=587.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=42.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:25:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:25:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
-[05/11 02:25:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:25:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:25:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039435m
-[05/11 02:25:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:25:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:25:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93086443  0.58635552  0.0394351 ] yaw=-163.6deg
-[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18172693  1.12962116  0.0394351 ] yaw=-131.4deg
-[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73843347  0.63843656  0.0394351 ] yaw=-171.2deg
-[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:25:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:25:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.1ms
-[05/11 02:25:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.586, 0.039)
-[05/11 02:25:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg
-[05/11 02:25:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:25:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
-[05/11 02:25:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:25:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:25:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:25:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True
-[05/11 02:25:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.308[m] 83.040[deg]
-[05/11 02:25:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:25:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:27:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:27:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:27:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:27:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps
-[05/11 02:27:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:27:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:27:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 10.77s (batch: 3.45s, save: 7.32s)
-[05/11 02:27:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
-  episode_total: mean=171.49s, total=171.49s, count=1, min=171491.8ms, max=171491.8ms
-  sensor_polling: mean=466.4ms, total=131.53s, count=282, min=391.0ms, max=761.7ms
-  save_trajectories: mean=7.32s, total=7.32s, count=1, min=7320.6ms, max=7320.6ms
-  physics_step: mean=22.6ms, total=6.37s, count=282, min=13.9ms, max=60.6ms
-  save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3453.3ms, max=3453.3ms
-  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
-  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=869.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:28:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:28:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/11 02:28:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:28:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:28:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003502m
-[05/11 02:28:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:28:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:28:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76730007  0.59920733  0.00350183] yaw=-177.2deg
-[05/11 02:28:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:28:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:28:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms
-[05/11 02:28:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.599, 0.004)
-[05/11 02:28:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg
-[05/11 02:28:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:28:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 02:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
-[05/11 02:28:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.480[m] 81.781[deg]
-[05/11 02:28:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:30:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:30:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:30:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:30:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:31:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:31:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:31:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.62s (batch: 3.83s, save: 7.80s)
-[05/11 02:31:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.65s, total=181.65s, count=1, min=181652.1ms, max=181652.1ms
-  sensor_polling: mean=462.9ms, total=138.88s, count=300, min=391.5ms, max=765.7ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7797.2ms, max=7797.2ms
-  physics_step: mean=23.5ms, total=7.04s, count=300, min=13.5ms, max=55.7ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.9ms, max=3825.9ms
-  task_sampling: mean=474.8ms, total=474.8ms, count=1, min=474.8ms, max=474.8ms
-  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:31:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:31:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:31:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
-[05/11 02:31:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:31:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:31:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032261m
-[05/11 02:31:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:31:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:31:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:31:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98235051  0.81034716  0.03226122] yaw=-144.5deg
-[05/11 02:31:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:31:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65658847  0.24548117  0.03226122] yaw=162.4deg
-[05/11 02:31:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:31:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:31:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms
-[05/11 02:31:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.810, 0.032)
-[05/11 02:31:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg
-[05/11 02:31:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:31:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:31:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 02:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 02:31:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:31:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:31:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:31:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True
-[05/11 02:31:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.312[m] 77.746[deg]
-[05/11 02:31:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:31:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:33:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:33:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:33:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps
-[05/11 02:33:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:33:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.01s (batch: 3.77s, save: 7.24s)
-[05/11 02:33:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
-  episode_total: mean=173.80s, total=173.80s, count=1, min=173802.0ms, max=173802.0ms
-  sensor_polling: mean=461.9ms, total=130.70s, count=283, min=389.2ms, max=910.9ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7239.7ms, max=7239.7ms
-  physics_step: mean=21.9ms, total=6.20s, count=283, min=14.1ms, max=57.6ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.3ms, max=3765.3ms
-  task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:33:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:33:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 02:33:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:33:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:33:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064566m
-[05/11 02:33:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:33:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:33:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93896747  0.37630092  0.06456601] yaw=163.2deg
-[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83351412  0.86076288  0.06456601] yaw=-158.0deg
-[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95518204  0.74435562  0.06456601] yaw=-151.2deg
-[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:33:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:33:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms
-[05/11 02:33:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.376, 0.065)
-[05/11 02:33:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg
-[05/11 02:33:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:33:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 02:33:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/11 02:33:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:33:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:33:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:34:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True
-[05/11 02:34:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 93.006[deg]
-[05/11 02:34:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:34:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:34:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:34:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:34:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:35:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:35:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:35:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:35:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps
-[05/11 02:35:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True
-[05/11 02:35:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.492[deg]
-[05/11 02:35:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:35:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:35:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:35:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/11 02:35:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:35:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:35:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034915m
-[05/11 02:35:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:35:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:35:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18345275  1.12745388  0.03491549] yaw=-119.3deg
-[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70260526  0.93739914  0.03491549] yaw=-149.0deg
-[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94196049  0.60457112  0.03491549] yaw=-177.6deg
-[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:35:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:35:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms
-[05/11 02:35:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.183, 1.127, 0.035)
-[05/11 02:35:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.3 deg
-[05/11 02:35:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:35:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:35:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:35:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 02:35:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
-[05/11 02:35:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:35:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:35:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 02:35:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True
-[05/11 02:35:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 105.346[deg]
-[05/11 02:35:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:36:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:36:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:37:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:37:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:37:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:37:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:37:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:37:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:37:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/11 02:37:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.576s, found feasible grasp: True
-[05/11 02:37:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.113[m] 5.471[deg]
-[05/11 02:37:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps
-[05/11 02:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 1.434s, found feasible grasp: True
-[05/11 02:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.477[deg]
-[05/11 02:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:38:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:38:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/11 02:38:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:38:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:38:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036486m
-[05/11 02:38:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:38:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:38:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94753425  0.42741406  0.03648631] yaw=176.7deg
-[05/11 02:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:38:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:38:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms
-[05/11 02:38:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.427, 0.036)
-[05/11 02:38:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg
-[05/11 02:38:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.757m
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:38:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 02:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.386s, found feasible grasp: True
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.331[m] 96.821[deg]
-[05/11 02:38:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:39:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:39:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:39:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:40:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:40:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:40:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:40:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps
-[05/11 02:40:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True
-[05/11 02:40:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]
-[05/11 02:40:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:40:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:40:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:40:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
-[05/11 02:40:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:40:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:40:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060962m
-[05/11 02:40:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:40:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:40:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80351157  1.09458717  0.06096196] yaw=-137.2deg
-[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72449173  0.2670605   0.06096196] yaw=173.9deg
-[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90305243  0.7429319   0.06096196] yaw=-162.9deg
-[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:40:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:40:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms
-[05/11 02:40:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.095, 0.061)
-[05/11 02:40:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg
-[05/11 02:40:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:40:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:40:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:40:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 02:40:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/11 02:40:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:40:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:40:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:40:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.380s, found feasible grasp: True
-[05/11 02:40:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.317[deg]
-[05/11 02:40:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:40:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:40:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:40:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/11 02:40:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:40:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:40:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096104m
-[05/11 02:40:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:40:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:40:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99274547  0.94258334  0.09610424] yaw=-156.5deg
-[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06690562  0.91988958  0.09610424] yaw=-138.2deg
-[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9306923   0.81507989  0.09610424] yaw=-149.6deg
-[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:40:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:40:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms
-[05/11 02:40:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.943, 0.096)
-[05/11 02:40:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg
-[05/11 02:40:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:40:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 02:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 02:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
-[05/11 02:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True
-[05/11 02:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.452[m] 90.564[deg]
-[05/11 02:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:43:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:43:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:43:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:43:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:43:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:43:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.70s (batch: 3.77s, save: 7.93s)
-[05/11 02:43:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=2.25s:
-  episode_total: mean=109.32s, total=546.60s, count=5, min=2921.1ms, max=181064.9ms
-  sensor_polling: mean=456.4ms, total=421.71s, count=924, min=385.6ms, max=856.8ms
-  physics_step: mean=21.7ms, total=20.01s, count=924, min=13.9ms, max=60.7ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7933.1ms, max=7933.1ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3766.5ms, max=3766.5ms
-  task_sampling: mean=450.1ms, total=2.25s, count=5, min=393.9ms, max=502.6ms
-  task_specific_sample: mean=447.0ms, total=2.23s, count=5, min=390.8ms, max=499.5ms
-  scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=403.2us, total=2.0ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
-[05/11 02:43:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:43:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:43:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
-[05/11 02:43:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:43:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:43:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081645m
-[05/11 02:43:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:43:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:43:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9308983   0.39664266  0.08164505] yaw=176.0deg
-[05/11 02:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97091112  0.10641144  0.08164505] yaw=142.4deg
-[05/11 02:43:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:43:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:43:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15738571  1.11607121  0.08164505] yaw=-127.3deg
-[05/11 02:43:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:43:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:43:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms
-[05/11 02:43:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.082)
-[05/11 02:43:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
-[05/11 02:43:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
-[05/11 02:43:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:43:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:43:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:43:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:43:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:43:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 02:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
-[05/11 02:43:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:43:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:43:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/11 02:43:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.399s, found feasible grasp: True
-[05/11 02:43:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.349[m] 95.858[deg]
-[05/11 02:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:44:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:44:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:44:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps
-[05/11 02:44:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True
-[05/11 02:44:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.675[deg]
-[05/11 02:44:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:44:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
-[05/11 02:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028290m
-[05/11 02:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:44:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92581603  0.4572776   0.02829025] yaw=184.9deg
-[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78507727  0.85804967  0.02829025] yaw=-150.9deg
-[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96612743  0.92877818  0.02829025] yaw=-158.0deg
-[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:44:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:44:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms
-[05/11 02:44:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.457, 0.028)
-[05/11 02:44:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.9 deg
-[05/11 02:44:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:44:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:44:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 02:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 02:44:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:44:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:44:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
-[05/11 02:44:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True
-[05/11 02:44:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 100.786[deg]
-[05/11 02:44:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:45:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:45:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:46:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:46:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:46:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:46:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:46:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:46:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
-[05/11 02:46:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.351s, found feasible grasp: True
-[05/11 02:46:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.405[deg]
-[05/11 02:46:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:46:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:46:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:47:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:47:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:47:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps
-[05/11 02:47:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.419s, found feasible grasp: True
-[05/11 02:47:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.049[deg]
-[05/11 02:47:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:47:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:48:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:48:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:48:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:48:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:48:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:48:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.44s (batch: 4.04s, save: 8.40s)
-[05/11 02:48:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.88s:
-  episode_total: mean=152.29s, total=304.58s, count=2, min=96724.6ms, max=207860.0ms
-  sensor_polling: mean=455.1ms, total=215.27s, count=473, min=395.6ms, max=853.3ms
-  physics_step: mean=21.7ms, total=10.25s, count=473, min=13.2ms, max=71.8ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8401.0ms, max=8401.0ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms
-  task_sampling: mean=440.0ms, total=879.9ms, count=2, min=403.2ms, max=476.7ms
-  task_specific_sample: mean=436.5ms, total=873.1ms, count=2, min=399.7ms, max=473.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=466.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:48:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:48:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:48:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/11 02:48:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:48:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:48:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051442m
-[05/11 02:48:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:48:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:48:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:48:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6800652   0.4410362   0.05144215] yaw=177.1deg
-[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:48:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12030799  1.01022821  0.05144215] yaw=-135.5deg
-[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.708727    0.11066344  0.05144215] yaw=150.8deg
-[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:48:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:48:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms
-[05/11 02:48:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.441, 0.051)
-[05/11 02:48:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg
-[05/11 02:48:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:48:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:48:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 02:48:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:48:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:48:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True
-[05/11 02:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.625[m] 105.551[deg]
-[05/11 02:48:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:49:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:49:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:49:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:50:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:51:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:51:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:51:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:51:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:51:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:51:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.73s (batch: 3.80s, save: 7.94s)
-[05/11 02:51:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s:
-  episode_total: mean=184.61s, total=184.61s, count=1, min=184607.9ms, max=184607.9ms
-  sensor_polling: mean=454.6ms, total=136.39s, count=300, min=383.3ms, max=895.0ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.9ms, max=7935.9ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=14.1ms, max=77.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms
-  task_sampling: mean=346.6ms, total=346.6ms, count=1, min=346.6ms, max=346.6ms
-  task_specific_sample: mean=343.0ms, total=343.0ms, count=1, min=343.0ms, max=343.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:51:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:51:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/11 02:51:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:51:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:51:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091385m
-[05/11 02:51:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:51:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:51:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02322248  1.25505167  0.09138471] yaw=-139.1deg
-[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0511847   0.88939376  0.09138471] yaw=-142.3deg
-[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84408061  0.34259098  0.09138471] yaw=162.0deg
-[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:51:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:51:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms
-[05/11 02:51:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.255, 0.091)
-[05/11 02:51:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg
-[05/11 02:51:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:51:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:51:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:51:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:51:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 02:51:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:51:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:51:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:51:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.601s, found feasible grasp: True
-[05/11 02:51:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.637[m] 73.934[deg]
-[05/11 02:51:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:52:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:52:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:52:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:53:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:53:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:53:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:53:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:53:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:53:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:53:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:53:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
-[05/11 02:53:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.452s, found feasible grasp: False
-[05/11 02:53:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 02:53:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:53:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:53:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
-[05/11 02:53:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:53:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:53:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041465m
-[05/11 02:53:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:53:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:53:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72908431  0.5880447   0.04146533] yaw=-179.2deg
-[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9561162   1.16206869  0.04146533] yaw=-131.1deg
-[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92749545  0.68286612  0.04146533] yaw=-160.5deg
-[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.5ms
-[05/11 02:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.588, 0.041)
-[05/11 02:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg
-[05/11 02:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:53:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/11 02:53:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:53:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:53:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 02:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True
-[05/11 02:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.561[m] 97.769[deg]
-[05/11 02:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:56:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:56:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:56:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 02:56:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:56:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:56:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:56:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.19s (batch: 4.85s, save: 8.33s)
-[05/11 02:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.73s:
-  episode_total: mean=154.55s, total=309.10s, count=2, min=120135.5ms, max=188969.2ms
-  sensor_polling: mean=462.6ms, total=238.68s, count=516, min=386.5ms, max=917.8ms
-  physics_step: mean=22.6ms, total=11.68s, count=516, min=17.0ms, max=59.0ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8334.2ms, max=8334.2ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4855.0ms, max=4855.0ms
-  task_sampling: mean=363.6ms, total=727.2ms, count=2, min=329.2ms, max=398.0ms
-  task_specific_sample: mean=360.3ms, total=720.6ms, count=2, min=325.8ms, max=394.9ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms
-  mj_forward_sync: mean=380.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
-[05/11 02:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008905m
-[05/11 02:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98486534  0.1246059   0.00890527] yaw=156.8deg
-[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9042199   0.65800408  0.00890527] yaw=-175.5deg
-[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7929734   0.33748672  0.00890527] yaw=162.2deg
-[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms
-[05/11 02:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.125, 0.009)
-[05/11 02:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg
-[05/11 02:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:56:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:56:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
-[05/11 02:56:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:56:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:56:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 02:56:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True
-[05/11 02:56:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.421[m] 99.411[deg]
-[05/11 02:56:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:57:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:58:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:58:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:58:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:58:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:59:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:59:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:59:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/11 02:59:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True
-[05/11 02:59:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]
-[05/11 02:59:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:59:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 02:59:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:59:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:59:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/11 02:59:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.046s, found feasible grasp: True
-[05/11 02:59:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.927[deg]
-[05/11 02:59:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:00:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:00:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:00:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 03:00:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:00:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:00:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:00:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.67s (batch: 4.20s, save: 9.46s)
-[05/11 03:00:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s:
-  episode_total: mean=245.53s, total=245.53s, count=1, min=245529.6ms, max=245529.6ms
-  sensor_polling: mean=532.6ms, total=159.79s, count=300, min=454.2ms, max=973.2ms
-  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9462.3ms, max=9462.3ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=17.0ms, max=83.5ms
-  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.9ms, max=4204.9ms
-  task_sampling: mean=564.8ms, total=564.8ms, count=1, min=564.8ms, max=564.8ms
-  task_specific_sample: mean=560.9ms, total=560.9ms, count=1, min=560.9ms, max=560.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:00:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:00:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:00:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:00:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:00:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:00:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:00:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
-[05/11 03:00:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:00:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:00:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094541m
-[05/11 03:00:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:00:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:00:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74920444  0.85812935  0.09454065] yaw=-149.9deg
-[05/11 03:00:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:00:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91062264  1.05030486  0.09454065] yaw=-146.2deg
-[05/11 03:00:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:00:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:00:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.4ms, total=286.5ms
-[05/11 03:00:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.858, 0.095)
-[05/11 03:00:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg
-[05/11 03:00:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m
-[05/11 03:00:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:00:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:00:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:00:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:00:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:00:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 03:00:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.187s
-[05/11 03:00:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:00:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:00:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
-[05/11 03:00:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.315s, found feasible grasp: True
-[05/11 03:00:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.655[m] 96.973[deg]
-[05/11 03:00:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:00:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:00:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
-[05/11 03:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:02:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:02:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:02:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/11 03:02:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True
-[05/11 03:02:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.556[deg]
-[05/11 03:02:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:02:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:02:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:03:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:03:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False
-[05/11 03:03:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=False episode_total=0.68s:
-  episode_total: mean=170.32s, total=170.32s, count=1, min=170320.4ms, max=170320.4ms
-  sensor_polling: mean=506.8ms, total=152.04s, count=300, min=438.9ms, max=1051.4ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.1ms, max=94.2ms
-  task_sampling: mean=682.4ms, total=682.4ms, count=1, min=682.4ms, max=682.4ms
-  task_specific_sample: mean=674.1ms, total=674.1ms, count=1, min=674.1ms, max=674.1ms
-  mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:03:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:03:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:03:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:03:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:03:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:03:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:03:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
-[05/11 03:03:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:03:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:03:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017881m
-[05/11 03:03:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:03:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:03:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:03:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92484502  0.52670293  0.01788072] yaw=-186.1deg
-[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15183148  1.14745023  0.01788072] yaw=-119.1deg
-[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76158424  0.47126797  0.01788072] yaw=178.1deg
-[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:03:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:03:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.0ms
-[05/11 03:03:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.527, 0.018)
-[05/11 03:03:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg
-[05/11 03:03:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
-[05/11 03:03:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:03:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:03:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:03:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:03:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:03:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 03:03:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.068s
-[05/11 03:03:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:03:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:03:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:03:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True
-[05/11 03:03:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.339[m] 88.616[deg]
-[05/11 03:03:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:06:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:06:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:06:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 03:06:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
-[05/11 03:07:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:07:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:07:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.49s (batch: 4.53s, save: 8.96s)
-[05/11 03:07:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.52s:
-  episode_total: mean=206.45s, total=206.45s, count=1, min=206453.0ms, max=206453.0ms
-  sensor_polling: mean=521.0ms, total=150.05s, count=288, min=439.9ms, max=851.2ms
-  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8959.7ms, max=8959.7ms
-  physics_step: mean=27.9ms, total=8.04s, count=288, min=16.0ms, max=95.1ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4527.6ms, max=4527.6ms
-  task_sampling: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms
-  task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=486.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:07:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:07:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:07:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/11 03:07:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:07:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:07:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010893m
-[05/11 03:07:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:07:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:07:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96484687  0.95327753  0.01089252] yaw=-152.9deg
-[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:07:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:07:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87740799  0.94725794  0.01089252] yaw=-154.5deg
-[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83820705  0.47311714  0.01089252] yaw=179.6deg
-[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:07:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:07:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.9ms
-[05/11 03:07:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.953, 0.011)
-[05/11 03:07:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg
-[05/11 03:07:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:07:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:07:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 03:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 03:07:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:07:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:07:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 03:07:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
-[05/11 03:07:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.468[m] 94.759[deg]
-[05/11 03:07:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:10:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:10:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:10:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes
-[05/11 03:10:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:10:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:10:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:10:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 17.48s (batch: 4.76s, save: 12.72s)
-[05/11 03:10:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
-  episode_total: mean=216.51s, total=216.51s, count=1, min=216510.4ms, max=216510.4ms
-  sensor_polling: mean=534.2ms, total=160.26s, count=300, min=438.0ms, max=915.3ms
-  save_trajectories: mean=12.72s, total=12.72s, count=1, min=12717.6ms, max=12717.6ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=15.0ms, max=132.0ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4763.6ms, max=4763.6ms
-  task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
-  task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=564.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:10:46 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:10:46 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:10:46 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
-[05/11 03:10:46 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5368.03s
-  House averages:
-  episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms
-  sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms
-  physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms
-  save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms
-  save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms
-  task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms
-  task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:10:46 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 03:10:46 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5368.03s
-  Worker averages:
-  episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms
-  sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms
-  physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms
-  save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms
-  save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms
-  task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms
-  task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms
-  scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms
-  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms
-  scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms
-  compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms
-  scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms
-  compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
-  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
-  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms
-  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
-  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
-  mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms
-  asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:10:49 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 03:10:49 INFO pipeline.py:1491] Success count: 11, Total count: 12
-[05/11 03:10:49 INFO pipeline.py:1492] Success rate: 91.67%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014
-==========================================
diff --git a/fridge_7/chunk_014/shard_4_of_4.log b/fridge_7/chunk_014/shard_4_of_4.log
deleted file mode 100644
index a1a75d9ddd735bfd0eead641c6778ebe0ff2dd5e..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_014/shard_4_of_4.log
+++ /dev/null
@@ -1,1778 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014
-  shard=4/4  seed=21404  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:36 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 02:21:36 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 02:21:36 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 02:21:36 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_014'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7676e4554950>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21404,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:21:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 02:21:36 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 02:21:36 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130253006037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130253006037072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130253006037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130253006037072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130253009239952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130253009239952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130253009239568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130253009239568 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130253009239568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130253009239568 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130253009239952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130253009239952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130253006063760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130253006063760 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130253006068880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130253006068880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130253006068880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130253006068880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130253006063760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130253006063760 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 02:21:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 62a527ba9110 at 0x7676e4911dd0>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62a527baabe0 at 0x7676e4924f50>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62a527baabe0 at 0x7676e48a3310>
-[05/11 02:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
-[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023323m
-[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7266121   0.36617649  0.02332285] yaw=180.9deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04214117  1.21163419  0.02332285] yaw=-130.3deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83310058  0.7783996   0.02332285] yaw=-163.7deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=264.0ms, total=286.2ms
-[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.366, 0.023)
-[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg
-[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:21:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:21:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 02:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.510s
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True
-[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.549[m] 90.079[deg]
-[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:22:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:23:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:24:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 02:25:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:25:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:25:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:25:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 02:25:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:25:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 4.04s, save: 9.47s)
-[05/11 02:25:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.12s:
-  episode_total: mean=224.19s, total=224.19s, count=1, min=224189.0ms, max=224189.0ms
-  sensor_polling: mean=462.0ms, total=138.61s, count=300, min=399.2ms, max=713.3ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9467.6ms, max=9467.6ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=56.1ms
-  task_sampling: mean=4.12s, total=4.12s, count=1, min=4119.6ms, max=4119.6ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4043.8ms, max=4043.8ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  task_specific_sample: mean=662.0ms, total=662.0ms, count=1, min=662.0ms, max=662.0ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=695.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=51.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/11 02:25:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:25:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:25:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/11 02:25:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:25:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:25:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014185m
-[05/11 02:25:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:25:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:25:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82171138  0.81580547  0.01418464] yaw=-152.8deg
-[05/11 02:25:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:25:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95659678  1.09017723  0.01418464] yaw=-146.1deg
-[05/11 02:25:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:25:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89995895  1.12767956  0.01418464] yaw=-146.9deg
-[05/11 02:25:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:25:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:25:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.3ms
-[05/11 02:25:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.816, 0.014)
-[05/11 02:25:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg
-[05/11 02:25:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
-[05/11 02:25:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:25:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:25:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:25:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:25:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:25:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 02:25:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/11 02:25:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:25:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:25:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:25:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True
-[05/11 02:25:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.515[m] 89.867[deg]
-[05/11 02:25:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:27:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:28:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:28:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:28:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:28:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:28:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:28:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.01s (batch: 3.62s, save: 9.39s)
-[05/11 02:28:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
-  episode_total: mean=179.03s, total=179.03s, count=1, min=179026.3ms, max=179026.3ms
-  sensor_polling: mean=456.5ms, total=136.95s, count=300, min=389.3ms, max=731.4ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9392.6ms, max=9392.6ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=16.3ms, max=54.1ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3621.9ms, max=3621.9ms
-  task_sampling: mean=411.1ms, total=411.1ms, count=1, min=411.1ms, max=411.1ms
-  task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  scene_randomize: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
-  mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:28:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:28:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
-[05/11 02:28:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:28:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:28:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053803m
-[05/11 02:28:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:28:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:28:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98911871  1.08409145  0.05380325] yaw=-133.5deg
-[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6849669   0.57716772  0.05380325] yaw=-173.9deg
-[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62339229  0.59432756  0.05380325] yaw=-169.1deg
-[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:28:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:28:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms
-[05/11 02:28:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.084, 0.054)
-[05/11 02:28:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg
-[05/11 02:28:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:28:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:28:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:28:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 02:28:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 02:28:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:28:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:28:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:28:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.067s, found feasible grasp: True
-[05/11 02:28:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 83.804[deg]
-[05/11 02:28:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:28:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:28:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:29:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:30:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:30:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:30:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:30:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:30:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:30:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:30:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
-[05/11 02:30:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.393s, found feasible grasp: True
-[05/11 02:30:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.533[deg]
-[05/11 02:30:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:30:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:30:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:30:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
-[05/11 02:30:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:30:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:30:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030251m
-[05/11 02:30:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:30:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:30:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07400456  0.90703004  0.03025106] yaw=-155.5deg
-[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.783973    0.44205729  0.03025106] yaw=176.4deg
-[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:30:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96821675  0.2777833   0.03025106] yaw=169.4deg
-[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:30:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:30:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.6ms, total=80.6ms
-[05/11 02:30:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.907, 0.030)
-[05/11 02:30:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg
-[05/11 02:30:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:30:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 02:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/11 02:30:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:30:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:30:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:30:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True
-[05/11 02:30:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.343[m] 88.262[deg]
-[05/11 02:30:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:30:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:30:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:31:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:31:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:33:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:33:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:33:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps
-[05/11 02:33:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:33:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:33:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.64s (batch: 3.95s, save: 7.69s)
-[05/11 02:33:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s:
-  episode_total: mean=164.45s, total=328.91s, count=2, min=151377.0ms, max=177531.6ms
-  sensor_polling: mean=451.0ms, total=261.59s, count=580, min=381.3ms, max=890.1ms
-  physics_step: mean=21.0ms, total=12.20s, count=580, min=13.6ms, max=66.9ms
-  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7687.3ms, max=7687.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.5ms, max=3949.5ms
-  task_sampling: mean=377.2ms, total=754.4ms, count=2, min=303.2ms, max=451.3ms
-  task_specific_sample: mean=374.1ms, total=748.2ms, count=2, min=300.3ms, max=447.8ms
-  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=376.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:33:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:33:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 02:33:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:33:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:33:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093887m
-[05/11 02:33:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:33:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:33:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:33:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86813067  0.03715406  0.09388653] yaw=143.6deg
-[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:33:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02167961  1.31369819  0.09388653] yaw=-135.7deg
-[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62939702  0.68539731  0.09388653] yaw=-163.2deg
-[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:33:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:33:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.2ms, total=100.2ms
-[05/11 02:33:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.037, 0.094)
-[05/11 02:33:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 143.6 deg
-[05/11 02:33:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.945m
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:33:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:33:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:33:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 02:33:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
-[05/11 02:33:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:33:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:33:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
-[05/11 02:33:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True
-[05/11 02:33:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.527[m] 92.453[deg]
-[05/11 02:33:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:34:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:35:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:36:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:36:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:36:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:36:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:36:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:36:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:36:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
-[05/11 02:36:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.417s, found feasible grasp: True
-[05/11 02:36:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.205[deg]
-[05/11 02:36:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
-[05/11 02:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005196m
-[05/11 02:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03576071  1.2444554   0.0051962 ] yaw=-133.7deg
-[05/11 02:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92109879  0.28338814  0.0051962 ] yaw=174.3deg
-[05/11 02:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms
-[05/11 02:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.244, 0.005)
-[05/11 02:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
-[05/11 02:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 02:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
-[05/11 02:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:36:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.433s, found feasible grasp: True
-[05/11 02:36:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.593[m] 88.553[deg]
-[05/11 02:36:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps
-[05/11 02:38:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.420s, found feasible grasp: False
-[05/11 02:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 02:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
-[05/11 02:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044895m
-[05/11 02:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02547389  1.07744934  0.04489506] yaw=-139.5deg
-[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99268519  1.16520856  0.04489506] yaw=-134.3deg
-[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98416081  1.20901535  0.04489506] yaw=-131.2deg
-[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:38:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:38:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms
-[05/11 02:38:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.077, 0.045)
-[05/11 02:38:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg
-[05/11 02:38:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:38:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 02:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:38:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
-[05/11 02:38:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True
-[05/11 02:38:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.535[m] 92.118[deg]
-[05/11 02:38:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:38:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:38:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
-[05/11 02:38:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:38:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:38:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004365m
-[05/11 02:38:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:38:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:38:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95822872  0.6038591   0.00436462] yaw=-164.5deg
-[05/11 02:38:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:38:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74973339 -0.00523651  0.00436462] yaw=146.5deg
-[05/11 02:38:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:38:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:38:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms
-[05/11 02:38:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.604, 0.004)
-[05/11 02:38:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg
-[05/11 02:38:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.754m
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:38:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:38:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:38:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 02:38:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/11 02:38:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:38:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:38:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 02:38:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True
-[05/11 02:38:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.281[m] 81.013[deg]
-[05/11 02:38:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:39:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:40:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:41:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:41:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:41:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 278 timesteps
-[05/11 02:41:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:41:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:41:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 3.72s, save: 9.79s)
-[05/11 02:41:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
-  episode_total: mean=111.22s, total=444.88s, count=4, min=4505.4ms, max=171138.8ms
-  sensor_polling: mean=453.8ms, total=350.34s, count=772, min=378.3ms, max=1044.9ms
-  physics_step: mean=20.7ms, total=16.02s, count=772, min=13.5ms, max=143.6ms
-  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9791.8ms, max=9791.8ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.4ms, max=3718.4ms
-  task_sampling: mean=388.0ms, total=1.55s, count=4, min=342.7ms, max=423.3ms
-  task_specific_sample: mean=384.1ms, total=1.54s, count=4, min=339.5ms, max=420.4ms
-  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=2.1ms
-  mj_forward_sync: mean=1.1ms, total=4.2ms, count=4, min=0.4ms, max=3.1ms
-  policy_setup: mean=20.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
-[05/11 02:41:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:41:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:41:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
-[05/11 02:41:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:41:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:41:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063864m
-[05/11 02:41:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:41:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:41:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00927798  1.02095232  0.06386404] yaw=-147.7deg
-[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63639876  0.59920286  0.06386404] yaw=-174.4deg
-[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12112189  1.04961567  0.06386404] yaw=-136.6deg
-[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:41:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:41:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms
-[05/11 02:41:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.021, 0.064)
-[05/11 02:41:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg
-[05/11 02:41:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:41:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:41:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:41:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 02:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 02:41:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:41:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:41:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:41:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True
-[05/11 02:41:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.459[m] 89.324[deg]
-[05/11 02:41:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:42:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:42:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:43:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:43:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:43:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:43:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:43:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/11 02:43:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True
-[05/11 02:43:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg]
-[05/11 02:43:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:44:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:44:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:44:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
-[05/11 02:44:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:44:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:44:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085501m
-[05/11 02:44:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:44:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:44:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77714369  0.43511158  0.08550133] yaw=180.9deg
-[05/11 02:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93775456  0.67732739  0.08550133] yaw=-174.7deg
-[05/11 02:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:44:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:44:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.3ms
-[05/11 02:44:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.435, 0.086)
-[05/11 02:44:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg
-[05/11 02:44:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:44:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:44:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 02:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
-[05/11 02:44:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:44:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:44:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 02:44:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True
-[05/11 02:44:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 91.153[deg]
-[05/11 02:44:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:45:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:46:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:46:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
-[05/11 02:46:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.313s, found feasible grasp: True
-[05/11 02:46:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.631[deg]
-[05/11 02:46:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:46:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:46:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:47:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:47:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:47:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:47:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:47:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:47:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.86s, save: 8.66s)
-[05/11 02:47:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.80s:
-  episode_total: mean=175.42s, total=350.85s, count=2, min=154120.1ms, max=196728.5ms
-  sensor_polling: mean=447.3ms, total=267.46s, count=598, min=382.8ms, max=957.7ms
-  physics_step: mean=21.2ms, total=12.66s, count=598, min=12.4ms, max=95.9ms
-  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.2ms, max=8659.2ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.8ms, max=3857.8ms
-  task_sampling: mean=399.1ms, total=798.1ms, count=2, min=397.9ms, max=400.3ms
-  task_specific_sample: mean=395.2ms, total=790.4ms, count=2, min=393.5ms, max=396.9ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.5ms
-  mj_forward_sync: mean=468.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 02:47:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:47:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:47:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/11 02:47:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:47:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:47:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083837m
-[05/11 02:47:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:47:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:47:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:47:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02372407  0.8349774   0.08383687] yaw=-144.9deg
-[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:47:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89440444  1.00927682  0.08383687] yaw=-144.1deg
-[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10665283  1.09181924  0.08383687] yaw=-134.3deg
-[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:47:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:47:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.0ms, total=339.0ms
-[05/11 02:47:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.835, 0.084)
-[05/11 02:47:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg
-[05/11 02:47:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.765m
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:47:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:47:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:47:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 02:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
-[05/11 02:47:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:47:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:47:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
-[05/11 02:47:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True
-[05/11 02:47:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 93.260[deg]
-[05/11 02:47:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:48:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:49:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:50:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:50:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:50:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:50:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:50:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:50:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.20s (batch: 3.88s, save: 8.32s)
-[05/11 02:50:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s:
-  episode_total: mean=184.88s, total=184.88s, count=1, min=184882.9ms, max=184882.9ms
-  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=392.9ms, max=785.9ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.1ms, max=8318.1ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=15.6ms, max=53.1ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
-  task_sampling: mean=640.1ms, total=640.1ms, count=1, min=640.1ms, max=640.1ms
-  task_specific_sample: mean=636.1ms, total=636.1ms, count=1, min=636.1ms, max=636.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:50:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:50:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:50:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
-[05/11 02:50:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:50:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:50:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062174m
-[05/11 02:50:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:50:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:50:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94709228  0.77851438  0.06217409] yaw=-149.5deg
-[05/11 02:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:50:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:50:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70206733  0.41102557  0.06217409] yaw=184.8deg
-[05/11 02:50:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:50:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68085066  0.42511192  0.06217409] yaw=165.9deg
-[05/11 02:50:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:50:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:50:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.6ms
-[05/11 02:50:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.779, 0.062)
-[05/11 02:50:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg
-[05/11 02:50:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
-[05/11 02:50:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:50:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:50:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:50:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:50:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:50:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 02:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
-[05/11 02:50:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:50:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:50:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
-[05/11 02:50:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.310s, found feasible grasp: True
-[05/11 02:50:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.490[deg]
-[05/11 02:50:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:51:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:51:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:51:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:52:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:53:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:53:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:53:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:53:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:53:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:53:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.53s (batch: 3.76s, save: 7.77s)
-[05/11 02:53:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.59s:
-  episode_total: mean=183.07s, total=183.07s, count=1, min=183069.2ms, max=183069.2ms
-  sensor_polling: mean=456.5ms, total=136.95s, count=300, min=382.3ms, max=722.6ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=16.7ms, max=73.7ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.0ms, max=3756.0ms
-  task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms
-  task_specific_sample: mean=585.7ms, total=585.7ms, count=1, min=585.7ms, max=585.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:53:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:53:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:53:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
-[05/11 02:53:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:53:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:53:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075768m
-[05/11 02:53:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:53:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:53:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:53:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73387825  0.98322963  0.0757682 ] yaw=-158.4deg
-[05/11 02:53:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:53:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:53:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms
-[05/11 02:53:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.983, 0.076)
-[05/11 02:53:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
-[05/11 02:53:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:53:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:53:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:53:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/11 02:53:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:53:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:53:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
-[05/11 02:53:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.481s, found feasible grasp: True
-[05/11 02:53:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.661[m] 84.564[deg]
-[05/11 02:53:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:53:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:53:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:56:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
-[05/11 02:56:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:56:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 02:56:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 02:56:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 02:56:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 02:56:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.97s (batch: 4.16s, save: 8.81s)
-[05/11 02:56:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.10s, total=189.10s, count=1, min=189100.9ms, max=189100.9ms
-  sensor_polling: mean=463.6ms, total=139.07s, count=300, min=378.4ms, max=901.7ms
-  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.5ms, max=8811.5ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=48.5ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms
-  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  task_specific_sample: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=525.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 02:56:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:56:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:56:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/11 02:56:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:56:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:56:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091681m
-[05/11 02:56:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:56:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:56:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92975541  1.14701302  0.09168103] yaw=-136.8deg
-[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08287859  1.03911609  0.09168103] yaw=-127.0deg
-[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9467349   0.56959405  0.09168103] yaw=-178.6deg
-[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:56:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:56:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.4ms
-[05/11 02:56:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.147, 0.092)
-[05/11 02:56:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg
-[05/11 02:56:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.019m
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:56:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
-[05/11 02:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 02:56:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:56:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:56:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
-[05/11 02:56:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.641s, found feasible grasp: True
-[05/11 02:56:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.579[m] 91.471[deg]
-[05/11 02:56:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 02:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 02:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 02:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 02:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 02:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 02:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 02:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 02:59:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 02:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 02:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 02:59:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:59:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:59:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
-[05/11 02:59:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True
-[05/11 02:59:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.300[deg]
-[05/11 02:59:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 02:59:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 02:59:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:59:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
-[05/11 02:59:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 02:59:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 02:59:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015805m
-[05/11 02:59:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 02:59:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 02:59:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01422068  1.17127059  0.01580467] yaw=-133.4deg
-[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 02:59:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:59:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88406195  1.17046951  0.01580467] yaw=-144.7deg
-[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81610975  0.68740432  0.01580467] yaw=-160.4deg
-[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 02:59:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 02:59:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.5ms
-[05/11 02:59:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.171, 0.016)
-[05/11 02:59:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg
-[05/11 02:59:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.974m
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 02:59:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 02:59:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 02:59:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
-[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
-[05/11 02:59:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 02:59:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 02:59:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 02:59:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.292s, found feasible grasp: True
-[05/11 02:59:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.618[m] 96.443[deg]
-[05/11 02:59:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:00:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:02:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:02:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:02:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:02:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
-[05/11 03:02:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.615s, found feasible grasp: True
-[05/11 03:02:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.882[deg]
-[05/11 03:02:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:02:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False
-[05/11 03:02:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=1.08s:
-  episode_total: mean=175.97s, total=351.94s, count=2, min=172258.0ms, max=179678.0ms
-  sensor_polling: mean=518.8ms, total=298.30s, count=575, min=424.6ms, max=1022.0ms
-  physics_step: mean=25.0ms, total=14.37s, count=575, min=17.8ms, max=105.4ms
-  task_sampling: mean=540.4ms, total=1.08s, count=2, min=487.4ms, max=593.4ms
-  task_specific_sample: mean=536.2ms, total=1.07s, count=2, min=484.2ms, max=588.3ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.3ms, max=3.5ms
-  mj_forward_sync: mean=526.7us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:02:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:02:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:02:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:02:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:02:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:02:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
-[05/11 03:02:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:02:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:02:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005910m
-[05/11 03:02:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:02:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:02:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:02:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92339016  0.82842172  0.00591015] yaw=-147.0deg
-[05/11 03:02:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:02:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61444264  0.47013764  0.00591015] yaw=175.2deg
-[05/11 03:02:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:02:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:02:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms
-[05/11 03:02:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.828, 0.006)
-[05/11 03:02:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.0 deg
-[05/11 03:02:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
-[05/11 03:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:02:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:02:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
-[05/11 03:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
-[05/11 03:02:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:02:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:02:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 03:02:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
-[05/11 03:02:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.387[m] 83.799[deg]
-[05/11 03:02:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:03:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:05:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:05:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:05:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 03:05:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps
-[05/11 03:06:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:06:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:06:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.64s (batch: 4.44s, save: 8.20s)
-[05/11 03:06:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
-  episode_total: mean=205.70s, total=205.70s, count=1, min=205695.2ms, max=205695.2ms
-  sensor_polling: mean=526.5ms, total=156.89s, count=298, min=440.5ms, max=951.6ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8198.0ms, max=8198.0ms
-  physics_step: mean=27.1ms, total=8.08s, count=298, min=16.1ms, max=132.6ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.2ms, max=4443.2ms
-  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
-  task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:06:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:06:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:06:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
-[05/11 03:06:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:06:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:06:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014150m
-[05/11 03:06:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:06:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:06:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:06:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19987842  1.06670778  0.01414984] yaw=-137.4deg
-[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85859254  0.80293895  0.01414984] yaw=-158.4deg
-[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02140141  0.98655105  0.01414984] yaw=-145.9deg
-[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:06:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:06:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms
-[05/11 03:06:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.200, 1.067, 0.014)
-[05/11 03:06:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg
-[05/11 03:06:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:06:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:06:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:06:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
-[05/11 03:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 03:06:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:06:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:06:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:06:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
-[05/11 03:06:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 81.870[deg]
-[05/11 03:06:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:06:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:08:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:08:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:08:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:08:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps
-[05/11 03:08:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.535s, found feasible grasp: True
-[05/11 03:08:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]
-[05/11 03:08:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:08:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:08:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:08:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:08:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:08:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:08:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:08:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
-[05/11 03:08:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:08:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:08:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078725m
-[05/11 03:08:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:08:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:08:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07308295  0.95469075  0.07872473] yaw=-140.3deg
-[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03448662  0.12196193  0.07872473] yaw=157.4deg
-[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68446894  0.30029017  0.07872473] yaw=158.6deg
-[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:08:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:08:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms
-[05/11 03:08:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.955, 0.079)
-[05/11 03:08:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg
-[05/11 03:08:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
-[05/11 03:08:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:08:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:08:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:08:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:08:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:08:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
-[05/11 03:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/11 03:08:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:08:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:08:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps
-[05/11 03:08:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True
-[05/11 03:08:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.346[m] 80.677[deg]
-[05/11 03:08:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:09:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:11:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:11:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:11:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes
-[05/11 03:11:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps
-[05/11 03:11:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:11:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014
-[05/11 03:11:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.61s (batch: 5.62s, save: 9.00s)
-[05/11 03:11:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s:
-  episode_total: mean=174.05s, total=348.10s, count=2, min=149130.8ms, max=198969.2ms
-  sensor_polling: mean=520.0ms, total=274.54s, count=528, min=429.1ms, max=1065.3ms
-  physics_step: mean=24.9ms, total=13.16s, count=528, min=15.5ms, max=107.6ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=8997.7ms, max=8997.7ms
-  save_batch_prep: mean=5.62s, total=5.62s, count=1, min=5616.5ms, max=5616.5ms
-  task_sampling: mean=456.3ms, total=912.5ms, count=2, min=431.6ms, max=481.0ms
-  task_specific_sample: mean=452.4ms, total=904.9ms, count=2, min=427.7ms, max=477.2ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=417.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:11:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:11:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014
-[05/11 03:11:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes
-[05/11 03:11:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5553.87s
-  House averages:
-  episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms
-  sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms
-  physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms
-  save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms
-  save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms
-  task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms
-  task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:11:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
-[05/11 03:11:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5553.87s
-  Worker averages:
-  episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms
-  sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms
-  physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms
-  save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms
-  save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms
-  task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms
-  task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms
-  scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms
-  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms
-  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms
-  compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms
-  compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
-  scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms
-  scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
-  compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms
-  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
-  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms
-  asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
-  mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
-[05/11 03:11:59 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
-[05/11 03:11:59 INFO pipeline.py:1491] Success count: 10, Total count: 11
-[05/11 03:11:59 INFO pipeline.py:1492] Success rate: 90.91%
-Failed to import warp: No module named 'warp'
-Failed to import mujoco_warp: No module named 'warp'
-Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
-==========================================
-Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014
-==========================================
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-05/11 03:15:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 03:15:34 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 03:15:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 03:15:34 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
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- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
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-                                   'gripper': 'joint_position'},
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-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
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-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
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-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
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-                 'joint_goal_position': None,
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-                 'joint_name': None,
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-                 'object_poses': None,
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-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
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-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
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-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 03:15:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 03:15:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 03:15:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 03:15:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 03:15:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 03:15:35 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
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- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x798549a489d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21504,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 03:15:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 03:15:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 03:15:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 03:15:35 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7381be16a1d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21501,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 03:15:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 03:15:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/11 03:15:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/11 03:15:35 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x76a70f4df3d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21503,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/11 03:15:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 03:15:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 03:15:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:15:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053116m	[env.py: 870]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000292m	[env.py: 870]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73532587  0.48650399  0.05311641] yaw=-179.4deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92200682  0.36569954  0.05311641] yaw=161.3deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.00555496e-01  8.00358475e-01  2.92137039e-04] yaw=-168.3deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96183297  1.07207804  0.05311641] yaw=-147.9deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=155.6ms, total=168.3ms	[env.py: 1075]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.487, 0.053)	[env.py: 1079]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg	[env.py: 1082]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 03:15:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007136m	[env.py: 870]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:15:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89961631  0.34573312  0.00713649] yaw=176.3deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95030226  0.22862237  0.00713649] yaw=169.5deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/11 03:15:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97053286  1.19323584  0.00713649] yaw=-138.3deg	[env.py: 1019]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=418.9ms, total=463.5ms	[env.py: 1075]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.346, 0.007)	[env.py: 1079]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg	[env.py: 1082]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053500m	[env.py: 870]
-05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=12.7ms, retries=778.7ms, total=791.4ms	[env.py: 1075]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.800, 0.000)	[env.py: 1079]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13470108  1.04856485  0.0534998 ] yaw=-131.7deg	[env.py: 1019]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6996168  0.1538073  0.0534998] yaw=166.5deg	[env.py: 1019]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82678663  0.60492779  0.0534998 ] yaw=-174.0deg	[env.py: 1019]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=86.6ms, retries=239.1ms, total=325.7ms	[env.py: 1075]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.049, 0.053)	[env.py: 1079]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
-05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:16:06 INFO: [Worker 0] Warmed up parallel IK solver in 27.466s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 28.358s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 27.957s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:16:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 86.070[deg]	[grasp_sample.py: 539]
-05/11 03:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 28.293s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:16:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.028[deg]	[grasp_sample.py: 539]
-05/11 03:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:16:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:16:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.794[deg]	[grasp_sample.py: 539]
-05/11 03:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:16:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 88.037[deg]	[grasp_sample.py: 539]
-05/11 03:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:16:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:16:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:16:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:17:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:17:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:17:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:17:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:17:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:18:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:18:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:18:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:18:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:18:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:18:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]	[grasp_sample.py: 539]
-05/11 03:18:30 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:18:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:18:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050539m	[env.py: 870]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8335893   0.36343436  0.05053866] yaw=161.0deg	[env.py: 1019]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95153852  1.16145925  0.05053866] yaw=-127.3deg	[env.py: 1019]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97232874  0.1348168   0.05053866] yaw=157.2deg	[env.py: 1019]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.3ms, total=295.3ms	[env.py: 1075]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.363, 0.051)	[env.py: 1079]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
-05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:18:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:18:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:18:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:18:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.451[m] 93.560[deg]	[grasp_sample.py: 539]
-05/11 03:18:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:18:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:18:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:18:39 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:18:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:18:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:18:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:18:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:18:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:18:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:18:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.407[deg]	[grasp_sample.py: 539]
-05/11 03:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:18:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:18:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:18:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:18:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:18:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:18:59 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/11 03:19:01 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:19:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:19:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:19:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:19:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:19:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:19:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:19:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:19:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.40s (batch: 4.52s, save: 8.88s)	[pipeline.py: 300]
-05/11 03:19:13 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.84s:
-  episode_total: mean=218.09s, total=218.09s, count=1, min=218086.3ms, max=218086.3ms
-  sensor_polling: mean=481.7ms, total=140.65s, count=292, min=459.9ms, max=686.7ms
-  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.7ms, max=8883.7ms
-  physics_step: mean=23.6ms, total=6.90s, count=292, min=16.0ms, max=35.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.0ms, max=4520.0ms
-  task_sampling: mean=3.84s, total=3.84s, count=1, min=3841.2ms, max=3841.2ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2830.0ms, max=2830.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1832.0ms, max=1832.0ms
-  task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1005.3ms, max=1005.3ms
-  scene_compile: mean=783.3ms, total=783.3ms, count=1, min=783.3ms, max=783.3ms
-  compile_mujoco: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms
-  compile_xml_load: mean=141.2ms, total=141.2ms, count=1, min=141.2ms, max=141.2ms
-  scene_init: mean=119.9ms, total=119.9ms, count=1, min=119.9ms, max=119.9ms
-  scene_asset_install: mean=94.5ms, total=94.5ms, count=1, min=94.5ms, max=94.5ms
-  asset_install_grasps: mean=59.5ms, total=59.5ms, count=1, min=59.5ms, max=59.5ms
-  compile_aux_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
-  compile_aux_policy_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
-  asset_install_scene: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms
-  asset_install_objects: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  compile_robot_add: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=44.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:19:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:19:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.37s (batch: 4.55s, save: 8.82s)	[pipeline.py: 300]
-05/11 03:19:15 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.36s:
-  episode_total: mean=220.12s, total=220.12s, count=1, min=220116.6ms, max=220116.6ms
-  sensor_polling: mean=475.3ms, total=142.60s, count=300, min=451.2ms, max=646.2ms
-  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8818.7ms, max=8818.7ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.3ms, max=66.0ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4548.3ms, max=4548.3ms
-  task_sampling: mean=4.36s, total=4.36s, count=1, min=4363.6ms, max=4363.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3225.6ms, max=3225.6ms
-  scene_env_create: mean=2.02s, total=2.02s, count=1, min=2021.2ms, max=2021.2ms
-  task_specific_sample: mean=1.13s, total=1.13s, count=1, min=1135.0ms, max=1135.0ms
-  scene_compile: mean=1.10s, total=1.10s, count=1, min=1102.4ms, max=1102.4ms
-  compile_mujoco: mean=707.8ms, total=707.8ms, count=1, min=707.8ms, max=707.8ms
-  compile_xml_load: mean=325.6ms, total=325.6ms, count=1, min=325.6ms, max=325.6ms
-  scene_init: mean=61.7ms, total=61.7ms, count=1, min=61.7ms, max=61.7ms
-  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  scene_asset_install: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/11 03:19:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:19:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:19:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:19:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:19:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:19:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071340m	[env.py: 870]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:19:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88148199  0.27751991  0.07133959] yaw=168.2deg	[env.py: 1019]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95486622  0.10041249  0.07133959] yaw=158.5deg	[env.py: 1019]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80868974  0.66748343  0.07133959] yaw=-176.2deg	[env.py: 1019]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.1ms	[env.py: 1075]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.278, 0.071)	[env.py: 1079]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
-05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:19:15 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:19:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:19:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:19:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:19:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:19:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 87.301[deg]	[grasp_sample.py: 539]
-05/11 03:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:19:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:19:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:19:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091098m	[env.py: 870]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82483565  0.84246464  0.0910976 ] yaw=-164.0deg	[env.py: 1019]
-05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.01363047  1.20716176  0.0910976 ] yaw=-141.5deg	[env.py: 1019]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.842, 0.091)	[env.py: 1079]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.0 deg	[env.py: 1082]
-05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
-05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:19:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:19:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 87.020[deg]	[grasp_sample.py: 539]
-05/11 03:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:19:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:19:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:19:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:19:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.00s (batch: 4.39s, save: 8.61s)	[pipeline.py: 300]
-05/11 03:19:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.47s:
-  episode_total: mean=230.23s, total=230.23s, count=1, min=230229.6ms, max=230229.6ms
-  sensor_polling: mean=485.1ms, total=145.53s, count=300, min=449.6ms, max=665.6ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8609.7ms, max=8609.7ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=16.0ms, max=33.2ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.8ms, max=4387.8ms
-  task_sampling: mean=3.47s, total=3.47s, count=1, min=3468.6ms, max=3468.6ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2971.6ms, max=2971.6ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.9ms, max=2044.9ms
-  scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms
-  compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms
-  task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
-  compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
-  scene_init: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
-  compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms
-  compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms
-  scene_asset_install: mean=39.1ms, total=39.1ms, count=1, min=39.1ms, max=39.1ms
-  asset_install_grasps: mean=28.9ms, total=28.9ms, count=1, min=28.9ms, max=28.9ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=398.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=56.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/11 03:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:19:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:19:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:19:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:19:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055817m	[env.py: 870]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69061881  0.88670388  0.05581727] yaw=-148.6deg	[env.py: 1019]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93840625  0.58376849  0.05581727] yaw=-174.4deg	[env.py: 1019]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621567  0.81677344  0.05581727] yaw=-163.4deg	[env.py: 1019]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:19:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.887, 0.056)	[env.py: 1079]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg	[env.py: 1082]
-05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:19:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:19:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:19:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:19:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:19:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:19:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:19:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:19:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:19:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.691[m] 88.232[deg]	[grasp_sample.py: 539]
-05/11 03:19:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:19:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:19:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:19:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:19:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:20:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:20:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:20:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:21:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:21:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:21:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:21:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:21:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:21:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.550[deg]	[grasp_sample.py: 539]
-05/11 03:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:07 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:21:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:21:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066057m	[env.py: 870]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85457939  0.75807875  0.0660568 ] yaw=-154.0deg	[env.py: 1019]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93820141  0.84368813  0.0660568 ] yaw=-143.6deg	[env.py: 1019]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9275821   0.76739722  0.0660568 ] yaw=-171.1deg	[env.py: 1019]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:21:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.2ms, total=304.2ms	[env.py: 1075]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.758, 0.066)	[env.py: 1079]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg	[env.py: 1082]
-05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:21:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:21:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:21:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:21:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:21:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:21:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 83.724[deg]	[grasp_sample.py: 539]
-05/11 03:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:21:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:21:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:21:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:21:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:21:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:21:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.057[deg]	[grasp_sample.py: 539]
-05/11 03:21:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:21:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:21:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:21:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:21:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024985m	[env.py: 870]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89222191  0.62188985  0.02498543] yaw=-163.5deg	[env.py: 1019]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81400858  1.01336107  0.02498543] yaw=-159.3deg	[env.py: 1019]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80787032  0.3774984   0.02498543] yaw=168.2deg	[env.py: 1019]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms	[env.py: 1075]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.622, 0.025)	[env.py: 1079]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
-05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
-05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:21:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:21:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:21:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:21:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:21:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:21:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:21:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:21:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 98.413[deg]	[grasp_sample.py: 539]
-05/11 03:21:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:21:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:21:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:21:49 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:21:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:22:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:22:02 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:22:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:22:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:22:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:22:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:22:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:22:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:22:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:22:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:22:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:22:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:22:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:22:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.17s (batch: 4.26s, save: 8.91s)	[pipeline.py: 300]
-05/11 03:22:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
-  episode_total: mean=187.12s, total=187.12s, count=1, min=187120.0ms, max=187120.0ms
-  sensor_polling: mean=475.4ms, total=142.62s, count=300, min=446.4ms, max=679.9ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8907.0ms, max=8907.0ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=19.2ms, max=33.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4265.0ms, max=4265.0ms
-  task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms
-  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=436.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:22:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:22:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:22:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:22:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:22:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:22:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064625m	[env.py: 870]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:22:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93517728  1.24983006  0.06462481] yaw=-126.6deg	[env.py: 1019]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66621522  0.42812393  0.06462481] yaw=174.3deg	[env.py: 1019]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73803355  0.24563791  0.06462481] yaw=170.0deg	[env.py: 1019]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:22:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.8ms	[env.py: 1075]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.250, 0.065)	[env.py: 1079]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg	[env.py: 1082]
-05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:22:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:22:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.596s, found feasible grasp: False	[grasp_sample.py: 500]
-05/11 03:22:27 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/11 03:22:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:22:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:22:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:22:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:22:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:22:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064569m	[env.py: 870]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:22:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78906162  0.49560494  0.06456903] yaw=-173.9deg	[env.py: 1019]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94726159  0.95157912  0.06456903] yaw=-150.1deg	[env.py: 1019]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00632763  1.04001659  0.06456903] yaw=-150.4deg	[env.py: 1019]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:22:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.1ms	[env.py: 1075]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.496, 0.065)	[env.py: 1079]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
-05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:22:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:22:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:22:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:22:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:22:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:22:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:22:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 98.467[deg]	[grasp_sample.py: 539]
-05/11 03:22:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:22:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:22:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:22:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:22:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:22:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.74s (batch: 4.30s, save: 8.44s)	[pipeline.py: 300]
-05/11 03:22:36 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.40s:
-  episode_total: mean=189.02s, total=189.02s, count=1, min=189023.1ms, max=189023.1ms
-  sensor_polling: mean=476.1ms, total=142.83s, count=300, min=446.5ms, max=671.7ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8437.3ms, max=8437.3ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=41.6ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.1ms, max=4300.1ms
-  task_sampling: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
-  task_specific_sample: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=433.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:22:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024151m	[env.py: 870]
-05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78496458  0.15211121  0.02415136] yaw=165.6deg	[env.py: 1019]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74628785  0.34163596  0.02415136] yaw=163.1deg	[env.py: 1019]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96037957  0.81219704  0.02415136] yaw=-145.6deg	[env.py: 1019]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.3ms, total=106.3ms	[env.py: 1075]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.152, 0.024)	[env.py: 1079]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
-05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:22:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:22:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:22:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 96.146[deg]	[grasp_sample.py: 539]
-05/11 03:22:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:22:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:22:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:23:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:23:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:23:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:23:41 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:23:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:23:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:23:49 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:24:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:24:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:24:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:24:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:24:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:24:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:24:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:24:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:24:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.73s (batch: 4.49s, save: 8.24s)	[pipeline.py: 300]
-05/11 03:24:17 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.98s:
-  episode_total: mean=150.27s, total=300.55s, count=2, min=111807.5ms, max=188740.2ms
-  sensor_polling: mean=476.3ms, total=236.25s, count=496, min=441.2ms, max=680.6ms
-  physics_step: mean=22.4ms, total=11.09s, count=496, min=17.1ms, max=33.8ms
-  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8244.2ms, max=8244.2ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.5ms, max=4486.5ms
-  task_sampling: mean=490.1ms, total=980.2ms, count=2, min=411.2ms, max=569.0ms
-  task_specific_sample: mean=486.6ms, total=973.3ms, count=2, min=407.4ms, max=565.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=438.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:24:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:24:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:24:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:24:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:24:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064817m	[env.py: 870]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87034528  0.83148243  0.06481704] yaw=-158.3deg	[env.py: 1019]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74451846  0.43770765  0.06481704] yaw=185.4deg	[env.py: 1019]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80594584  1.09666437  0.06481704] yaw=-138.6deg	[env.py: 1019]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms	[env.py: 1075]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.831, 0.065)	[env.py: 1079]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
-05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:24:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:24:19 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:24:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:24:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:24:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:24:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 88.981[deg]	[grasp_sample.py: 539]
-05/11 03:24:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:24:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:24:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:24:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:24:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:24:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.57s (batch: 4.41s, save: 8.16s)	[pipeline.py: 300]
-05/11 03:24:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=4.78s:
-  episode_total: mean=174.80s, total=524.41s, count=3, min=163410.3ms, max=186060.3ms
-  sensor_polling: mean=473.7ms, total=387.48s, count=818, min=430.6ms, max=733.7ms
-  physics_step: mean=22.0ms, total=18.00s, count=818, min=16.4ms, max=42.9ms
-  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8161.3ms, max=8161.3ms
-  task_sampling: mean=1.59s, total=4.78s, count=3, min=544.6ms, max=3668.3ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.3ms, max=4411.3ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3033.1ms, max=3033.1ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.9ms, max=1808.9ms
-  task_specific_sample: mean=578.6ms, total=1.74s, count=3, min=541.9ms, max=631.7ms
-  scene_compile: mean=895.7ms, total=895.7ms, count=1, min=895.7ms, max=895.7ms
-  compile_mujoco: mean=620.4ms, total=620.4ms, count=1, min=620.4ms, max=620.4ms
-  scene_init: mean=261.6ms, total=261.6ms, count=1, min=261.6ms, max=261.6ms
-  compile_xml_load: mean=200.8ms, total=200.8ms, count=1, min=200.8ms, max=200.8ms
-  scene_asset_install: mean=66.4ms, total=66.4ms, count=1, min=66.4ms, max=66.4ms
-  compile_aux_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
-  compile_aux_policy_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
-  asset_install_grasps: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
-  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
-  compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.4ms, max=1.8ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=515.5us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:24:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:24:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:24:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:24:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:24:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035357m	[env.py: 870]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87738159  0.22759427  0.03535665] yaw=165.8deg	[env.py: 1019]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69108549  0.83610115  0.03535665] yaw=-155.5deg	[env.py: 1019]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85088     0.80224965  0.03535665] yaw=-170.3deg	[env.py: 1019]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.5ms	[env.py: 1075]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.228, 0.035)	[env.py: 1079]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
-05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:24:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:24:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:24:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:24:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 85.484[deg]	[grasp_sample.py: 539]
-05/11 03:24:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:25:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:10 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:25:16 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:25:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:25:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:25:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:25:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:25:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:25:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:25:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:25:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:25:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.84s (batch: 4.67s, save: 10.17s)	[pipeline.py: 300]
-05/11 03:25:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.83s:
-  episode_total: mean=99.71s, total=199.43s, count=2, min=2174.2ms, max=197251.9ms
-  sensor_polling: mean=473.9ms, total=142.16s, count=300, min=442.1ms, max=693.3ms
-  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10174.7ms, max=10174.7ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=14.8ms, max=32.5ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.8ms, max=4666.8ms
-  task_sampling: mean=412.7ms, total=825.4ms, count=2, min=379.6ms, max=445.8ms
-  task_specific_sample: mean=409.3ms, total=818.6ms, count=2, min=376.8ms, max=441.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=430.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:25:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:25:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:25:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:25:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:25:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076831m	[env.py: 870]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92960919  1.06869268  0.07683093] yaw=-153.2deg	[env.py: 1019]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68033825  0.87675813  0.07683093] yaw=-161.1deg	[env.py: 1019]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94014105  0.12535748  0.07683093] yaw=143.7deg	[env.py: 1019]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms	[env.py: 1075]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.069, 0.077)	[env.py: 1079]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg	[env.py: 1082]
-05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:25:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:25:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 80.886[deg]	[grasp_sample.py: 539]
-05/11 03:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:25:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:25:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:25:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:25:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:25:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.97s (batch: 4.90s, save: 10.07s)	[pipeline.py: 300]
-05/11 03:25:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s:
-  episode_total: mean=196.72s, total=196.72s, count=1, min=196724.4ms, max=196724.4ms
-  sensor_polling: mean=472.3ms, total=141.70s, count=300, min=440.6ms, max=671.6ms
-  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10067.0ms, max=10067.0ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=16.2ms, max=34.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4902.2ms, max=4902.2ms
-  task_sampling: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms
-  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:25:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:25:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:25:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003463m	[env.py: 870]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80292475  0.1407497   0.00346308] yaw=163.7deg	[env.py: 1019]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9596315   0.67896932  0.00346308] yaw=-168.0deg	[env.py: 1019]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76549647  0.63406985  0.00346308] yaw=-179.1deg	[env.py: 1019]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.3ms	[env.py: 1075]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.141, 0.003)	[env.py: 1079]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg	[env.py: 1082]
-05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:25:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:25:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:25:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:25:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:25:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:25:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:25:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:25:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 95.855[deg]	[grasp_sample.py: 539]
-05/11 03:25:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:25:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:25:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:26:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:26:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:26:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:26:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]	[grasp_sample.py: 539]
-05/11 03:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:26:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:26:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:26:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:26:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:26:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:27:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:27:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:27:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:27:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:27:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:27:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:27:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:27:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.89s (batch: 4.32s, save: 8.57s)	[pipeline.py: 300]
-05/11 03:27:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
-  episode_total: mean=202.56s, total=202.56s, count=1, min=202563.2ms, max=202563.2ms
-  sensor_polling: mean=503.0ms, total=150.90s, count=300, min=438.2ms, max=1078.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.8ms, max=8571.8ms
-  physics_step: mean=24.1ms, total=7.22s, count=300, min=15.7ms, max=89.4ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.2ms, max=4318.2ms
-  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
-  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=414.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:27:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:27:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031017m	[env.py: 870]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97156527  0.94456377  0.03101667] yaw=-145.9deg	[env.py: 1019]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9031036   0.89461241  0.03101667] yaw=-145.5deg	[env.py: 1019]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88031729  0.61918746  0.03101667] yaw=-169.2deg	[env.py: 1019]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.2ms, total=141.3ms	[env.py: 1075]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.945, 0.031)	[env.py: 1079]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
-05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:27:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:27:43 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:27:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:27:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:27:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:27:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.424[m] 89.766[deg]	[grasp_sample.py: 539]
-05/11 03:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:27:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:27:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:27:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:27:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:27:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:27:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:27:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:27:56 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.935s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:27:56 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.487[deg]	[grasp_sample.py: 539]
-05/11 03:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:27:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:27:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:27:57 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:28:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:28:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:28:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:28:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:28:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:28:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.95s (batch: 4.25s, save: 8.70s)	[pipeline.py: 300]
-05/11 03:28:31 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
-  episode_total: mean=245.59s, total=245.59s, count=1, min=245587.9ms, max=245587.9ms
-  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=443.9ms, max=1071.1ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms
-  physics_step: mean=26.4ms, total=7.91s, count=300, min=14.7ms, max=135.4ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.8ms, max=4245.8ms
-  task_sampling: mean=380.1ms, total=380.1ms, count=1, min=380.1ms, max=380.1ms
-  task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:28:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:28:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:28:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:28:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:28:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:28:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051628m	[env.py: 870]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:28:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86963976  0.03378644  0.05162842] yaw=154.0deg	[env.py: 1019]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93276929  0.08946945  0.05162842] yaw=163.9deg	[env.py: 1019]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87805368  0.41201042  0.05162842] yaw=173.9deg	[env.py: 1019]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:28:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms	[env.py: 1075]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.034, 0.052)	[env.py: 1079]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg	[env.py: 1082]
-05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:28:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:28:33 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:28:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:28:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:28:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:28:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:28:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.538[m] 98.323[deg]	[grasp_sample.py: 539]
-05/11 03:28:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:28:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:28:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:28:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:28:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:28:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:28:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:28:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.622s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:28:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg]	[grasp_sample.py: 539]
-05/11 03:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:28:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:28:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010810m	[env.py: 870]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80637939  0.07907997  0.01080995] yaw=166.9deg	[env.py: 1019]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91626546  0.84223753  0.01080995] yaw=-153.2deg	[env.py: 1019]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89098495  0.6146414   0.01080995] yaw=-180.5deg	[env.py: 1019]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.6ms, total=110.7ms	[env.py: 1075]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.079, 0.011)	[env.py: 1079]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
-05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
-05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:28:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:28:47 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:28:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.710s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:28:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 77.938[deg]	[grasp_sample.py: 539]
-05/11 03:28:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:28:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:28:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:28:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:29:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:29:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:29:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:29:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:29:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:29:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:29:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.31s (batch: 6.59s, save: 9.71s)	[pipeline.py: 300]
-05/11 03:29:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s:
-  episode_total: mean=224.60s, total=224.60s, count=1, min=224600.9ms, max=224600.9ms
-  sensor_polling: mean=525.0ms, total=157.51s, count=300, min=448.4ms, max=900.2ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9713.8ms, max=9713.8ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=18.4ms, max=76.5ms
-  save_batch_prep: mean=6.59s, total=6.59s, count=1, min=6593.9ms, max=6593.9ms
-  task_sampling: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms
-  task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
-  scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  mj_forward_sync: mean=885.5us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=43.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:29:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:29:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:29:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048493m	[env.py: 870]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.3ms, total=166.3ms	[env.py: 1105]
-05/11 03:29:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/11 03:29:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/11 03:29:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:29:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:29:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:29:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:29:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:29:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:29:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053273m	[env.py: 870]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:29:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67534809  0.86990656  0.05327316] yaw=-148.2deg	[env.py: 1019]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82538648  0.69279727  0.05327316] yaw=-168.7deg	[env.py: 1019]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93149158  0.25729035  0.05327316] yaw=159.2deg	[env.py: 1019]
-05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.8ms, total=249.8ms	[env.py: 1075]
-05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.870, 0.053)	[env.py: 1079]
-05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
-05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
-05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:29:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:29:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:29:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:29:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:29:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:29:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:29:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:29:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:29:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.687s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:29:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 77.355[deg]	[grasp_sample.py: 539]
-05/11 03:29:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:29:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:29:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:29:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:29:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:30:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:30:30 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:30:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:30:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:30:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:30:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:31:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:31:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:31:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:31:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.37s, save: 10.11s)	[pipeline.py: 300]
-05/11 03:31:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.82s, total=208.82s, count=1, min=208816.4ms, max=208816.4ms
-  sensor_polling: mean=515.5ms, total=154.65s, count=300, min=435.2ms, max=959.7ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10106.3ms, max=10106.3ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=17.9ms, max=107.0ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.2ms, max=4365.2ms
-  task_sampling: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms
-  task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=596.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:31:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:31:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:31:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:31:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:31:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:31:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084125m	[env.py: 870]
-05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04155463  1.15376563  0.0841248 ] yaw=-143.0deg	[env.py: 1019]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81025765  0.29281103  0.0841248 ] yaw=165.2deg	[env.py: 1019]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.0ms, total=244.0ms	[env.py: 1075]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.154, 0.084)	[env.py: 1079]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg	[env.py: 1082]
-05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
-05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:31:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:31:14 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:31:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:31:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:31:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:31:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 82.454[deg]	[grasp_sample.py: 539]
-05/11 03:31:17 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:31:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:31:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:31:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011962m	[env.py: 870]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67249064  0.8639138   0.01196235] yaw=-150.6deg	[env.py: 1019]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80016262  0.21893148  0.01196235] yaw=155.9deg	[env.py: 1019]
-05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74629135  0.41029494  0.01196235] yaw=186.3deg	[env.py: 1019]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms	[env.py: 1075]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.864, 0.012)	[env.py: 1079]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg	[env.py: 1082]
-05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
-05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:31:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:31:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:31:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:31:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.674[m] 85.087[deg]	[grasp_sample.py: 539]
-05/11 03:31:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:31:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:31:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:31:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:31:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:31:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:31:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:31:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:31:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:31:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:31:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:31:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.381[deg]	[grasp_sample.py: 539]
-05/11 03:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:31:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:31:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.09s (batch: 3.96s, save: 8.13s)	[pipeline.py: 300]
-05/11 03:32:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.36s, total=207.36s, count=1, min=207359.2ms, max=207359.2ms
-  sensor_polling: mean=537.5ms, total=161.26s, count=300, min=447.6ms, max=904.6ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.6ms, max=8133.6ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=79.8ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.9ms, max=3959.9ms
-  task_sampling: mean=467.0ms, total=467.0ms, count=1, min=467.0ms, max=467.0ms
-  task_specific_sample: mean=463.5ms, total=463.5ms, count=1, min=463.5ms, max=463.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=428.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:32:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:32:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094122m	[env.py: 870]
-05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14189016  0.99618334  0.09412222] yaw=-127.8deg	[env.py: 1019]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71397587  0.05984679  0.09412222] yaw=157.0deg	[env.py: 1019]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9053027   0.1794617   0.09412222] yaw=150.4deg	[env.py: 1019]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms	[env.py: 1075]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.996, 0.094)	[env.py: 1079]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg	[env.py: 1082]
-05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m	[env.py: 1086]
-05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:32:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:32:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:32:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 89.528[deg]	[grasp_sample.py: 539]
-05/11 03:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:32:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:32:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:32:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:32:29 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:32:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:32:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:32:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.10s (batch: 4.24s, save: 8.86s)	[pipeline.py: 300]
-05/11 03:32:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.96s:
-  episode_total: mean=203.30s, total=406.59s, count=2, min=176381.5ms, max=230212.9ms
-  sensor_polling: mean=519.8ms, total=308.78s, count=594, min=435.5ms, max=972.8ms
-  physics_step: mean=25.9ms, total=15.40s, count=594, min=13.8ms, max=90.0ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.7ms, max=8857.7ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.3ms, max=4240.3ms
-  task_sampling: mean=481.2ms, total=962.3ms, count=2, min=446.5ms, max=515.8ms
-  task_specific_sample: mean=476.5ms, total=953.0ms, count=2, min=441.7ms, max=511.4ms
-  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.1ms, max=2.8ms
-  mj_forward_sync: mean=665.3us, total=1.3ms, count=2, min=0.6ms, max=0.8ms
-  policy_setup: mean=27.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:32:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003276m	[env.py: 870]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95025718  0.30956795  0.00327616] yaw=162.7deg	[env.py: 1019]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89220964  0.37363091  0.00327616] yaw=165.1deg	[env.py: 1019]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01575284  0.97954785  0.00327616] yaw=-145.9deg	[env.py: 1019]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=474.2ms, total=474.3ms	[env.py: 1075]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.310, 0.003)	[env.py: 1079]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg	[env.py: 1082]
-05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:32:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:32:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:32:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:32:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:32:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:32:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.283[m] 77.001[deg]	[grasp_sample.py: 539]
-05/11 03:32:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:32:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:32:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:32:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:33:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:33:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:33:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.96s (batch: 4.79s, save: 9.16s)	[pipeline.py: 300]
-05/11 03:33:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:33:10 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.57s:
-  episode_total: mean=103.09s, total=206.17s, count=2, min=177.2ms, max=205997.1ms
-  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=430.7ms, max=783.7ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9164.9ms, max=9164.9ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.2ms, max=66.0ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4791.8ms, max=4791.8ms
-  task_specific_sample: mean=368.0ms, total=736.0ms, count=2, min=171.5ms, max=564.6ms
-  task_sampling: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
-  task_sampling_failed: mean=177.2ms, total=177.2ms, count=1, min=177.2ms, max=177.2ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=417.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:33:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:33:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003204m	[env.py: 870]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19842868  1.10643067  0.00320396] yaw=-136.7deg	[env.py: 1019]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06861187  1.22752611  0.00320396] yaw=-138.3deg	[env.py: 1019]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90936937  0.16232709  0.00320396] yaw=157.0deg	[env.py: 1019]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.0ms, total=266.0ms	[env.py: 1075]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.198, 1.106, 0.003)	[env.py: 1079]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
-05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:33:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:33:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:33:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:33:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:33:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:33:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 84.538[deg]	[grasp_sample.py: 539]
-05/11 03:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:33:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:33:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:33:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:04 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:34:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:34:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:34:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:34:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:34:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:34:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.904s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:34:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg]	[grasp_sample.py: 539]
-05/11 03:34:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:34:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:34:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:34:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:34:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:34:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:34:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.37s (batch: 4.04s, save: 8.32s)	[pipeline.py: 300]
-05/11 03:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:41 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.92s:
-  episode_total: mean=102.87s, total=205.74s, count=2, min=3267.3ms, max=202473.7ms
-  sensor_polling: mean=506.0ms, total=151.80s, count=300, min=432.8ms, max=971.6ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8324.0ms, max=8324.0ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.1ms, max=136.1ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms
-  task_sampling: mean=458.4ms, total=916.9ms, count=2, min=375.0ms, max=541.9ms
-  task_specific_sample: mean=454.8ms, total=909.5ms, count=2, min=372.1ms, max=537.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=429.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:34:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:34:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:34:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:34:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096489m	[env.py: 870]
-05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64826685  0.70949934  0.09648935] yaw=-157.3deg	[env.py: 1019]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78873961  0.98846192  0.09648935] yaw=-149.2deg	[env.py: 1019]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71970079  0.02457172  0.09648935] yaw=148.9deg	[env.py: 1019]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1075]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.709, 0.096)	[env.py: 1079]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.3 deg	[env.py: 1082]
-05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:34:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:34:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:34:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:34:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:34:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:34:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:34:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.399[deg]	[grasp_sample.py: 539]
-05/11 03:34:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:34:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:34:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:34:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:34:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:34:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:34:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:34:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:34:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:34:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.376[deg]	[grasp_sample.py: 539]
-05/11 03:34:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:34:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:34:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:34:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:34:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:34:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:34:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:34:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099164m	[env.py: 870]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:34:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91991972  1.15789928  0.0991641 ] yaw=-144.5deg	[env.py: 1019]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88506633  0.35232633  0.0991641 ] yaw=169.9deg	[env.py: 1019]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91905868  1.03149498  0.0991641 ] yaw=-141.3deg	[env.py: 1019]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:34:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.7ms	[env.py: 1075]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 1.158, 0.099)	[env.py: 1079]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
-05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:34:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:34:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:34:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:34:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:34:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:34:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:34:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:34:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 81.425[deg]	[grasp_sample.py: 539]
-05/11 03:34:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:34:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:34:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:35:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:35:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:35:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:35:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]	[grasp_sample.py: 539]
-05/11 03:35:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:35:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:35:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:35:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:35:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:35:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:35:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:35:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092231m	[env.py: 870]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:35:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77187383  0.95875467  0.09223106] yaw=-144.2deg	[env.py: 1019]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11252544  1.03143517  0.09223106] yaw=-126.9deg	[env.py: 1019]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86683819  0.826812    0.09223106] yaw=-146.3deg	[env.py: 1019]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:35:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.4ms	[env.py: 1075]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.959, 0.092)	[env.py: 1079]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg	[env.py: 1082]
-05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:35:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:35:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:35:42 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:35:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.876s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:35:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.625[m] 80.584[deg]	[grasp_sample.py: 539]
-05/11 03:35:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:35:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:35:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:35:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:35:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:36:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:36:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:36:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:36:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:36:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:36:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:36:18 INFO: [Worker 0] Feasibility-checked 82 grasps in 6.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:36:18 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.220[m] 1.990[deg]	[grasp_sample.py: 539]
-05/11 03:36:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:36:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:36:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:36:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048575m	[env.py: 870]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90698368  0.59849913  0.04857485] yaw=-169.9deg	[env.py: 1019]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86729377  1.1201851   0.04857485] yaw=-138.6deg	[env.py: 1019]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88138684  0.27171043  0.04857485] yaw=161.9deg	[env.py: 1019]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.598, 0.049)	[env.py: 1079]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
-05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:36:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:36:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:36:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:36:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:36:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:36:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:36:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:36:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 97.422[deg]	[grasp_sample.py: 539]
-05/11 03:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:36:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:36:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.59s (batch: 4.61s, save: 8.98s)	[pipeline.py: 300]
-05/11 03:36:25 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.77s:
-  episode_total: mean=225.86s, total=225.86s, count=1, min=225863.8ms, max=225863.8ms
-  sensor_polling: mean=520.6ms, total=156.19s, count=300, min=449.3ms, max=1048.1ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.2ms, max=8981.2ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.9ms, max=69.1ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.4ms, max=4607.4ms
-  task_sampling: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms
-  task_specific_sample: mean=761.1ms, total=761.1ms, count=1, min=761.1ms, max=761.1ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=631.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:36:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007962m	[env.py: 870]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04054296  1.14401853  0.00796217] yaw=-141.7deg	[env.py: 1019]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08522835  0.96475583  0.00796217] yaw=-151.3deg	[env.py: 1019]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.8ms, total=233.8ms	[env.py: 1075]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.144, 0.008)	[env.py: 1079]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.7 deg	[env.py: 1082]
-05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:36:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:36:27 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.114s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:36:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 89.755[deg]	[grasp_sample.py: 539]
-05/11 03:36:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:36:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:37:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:37:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:37:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:37:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:37:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:37:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.714s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:37:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg]	[grasp_sample.py: 539]
-05/11 03:37:31 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:37:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:37:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:37:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:37:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:37:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:37:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:37:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049989m	[env.py: 870]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:37:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83850691  0.57718344  0.04998891] yaw=-163.5deg	[env.py: 1019]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06909299  0.91150532  0.04998891] yaw=-134.9deg	[env.py: 1019]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74998768  0.44702536  0.04998891] yaw=183.7deg	[env.py: 1019]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms	[env.py: 1075]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.577, 0.050)	[env.py: 1079]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
-05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
-05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:37:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:37:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:37:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:37:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:37:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:37:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 85.342[deg]	[grasp_sample.py: 539]
-05/11 03:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:37:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:37:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:37:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:37:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:38:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:38:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:38:30 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:38:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:38:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:38:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:39:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:39:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:39:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.076s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:39:05 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.224[m] 2.991[deg]	[grasp_sample.py: 539]
-05/11 03:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:39:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:39:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:39:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:39:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:39:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:39:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:39:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034308m	[env.py: 870]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:39:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9232798   0.82746261  0.03430795] yaw=-161.3deg	[env.py: 1019]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95427587  0.10818949  0.03430795] yaw=149.0deg	[env.py: 1019]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90137675  1.07680256  0.03430795] yaw=-136.0deg	[env.py: 1019]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:39:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.3ms	[env.py: 1075]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.827, 0.034)	[env.py: 1079]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg	[env.py: 1082]
-05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:39:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:39:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:39:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:39:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:39:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:39:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:39:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.64s (batch: 4.52s, save: 9.12s)	[pipeline.py: 300]
-05/11 03:39:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:39:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 93.666[deg]	[grasp_sample.py: 539]
-05/11 03:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:39:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.06s:
-  episode_total: mean=177.81s, total=355.61s, count=2, min=146976.7ms, max=208635.7ms
-  sensor_polling: mean=513.8ms, total=274.88s, count=535, min=424.5ms, max=835.2ms
-  physics_step: mean=25.8ms, total=13.80s, count=535, min=16.2ms, max=94.8ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9124.8ms, max=9124.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4518.6ms, max=4518.6ms
-  task_sampling: mean=527.9ms, total=1.06s, count=2, min=405.0ms, max=650.8ms
-  task_specific_sample: mean=523.0ms, total=1.05s, count=2, min=401.4ms, max=644.6ms
-  scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=1.5ms, max=4.6ms
-  mj_forward_sync: mean=507.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:39:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:39:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:39:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:39:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006568m	[env.py: 870]
-05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01112875  0.16978716  0.00656844] yaw=144.3deg	[env.py: 1019]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76876602  0.06255817  0.00656844] yaw=146.7deg	[env.py: 1019]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68441461  0.34307525  0.00656844] yaw=179.8deg	[env.py: 1019]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms	[env.py: 1075]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.170, 0.007)	[env.py: 1079]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.3 deg	[env.py: 1082]
-05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:39:12 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:39:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:39:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.134s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:39:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:39:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.306[m] 88.131[deg]	[grasp_sample.py: 539]
-05/11 03:39:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:39:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:39:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:39:34 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:39:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:39:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:39:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:39:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:39:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:39:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.79s (batch: 4.35s, save: 9.44s)	[pipeline.py: 300]
-05/11 03:39:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
-  episode_total: mean=152.22s, total=304.43s, count=2, min=96420.7ms, max=208013.8ms
-  sensor_polling: mean=506.1ms, total=219.66s, count=434, min=439.1ms, max=1082.9ms
-  physics_step: mean=23.9ms, total=10.36s, count=434, min=15.3ms, max=77.9ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.6ms, max=4348.6ms
-  task_sampling: mean=452.4ms, total=904.7ms, count=2, min=416.1ms, max=488.6ms
-  task_specific_sample: mean=448.5ms, total=897.0ms, count=2, min=412.5ms, max=484.5ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:39:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:39:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041517m	[env.py: 870]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89324468  0.67060316  0.0415171 ] yaw=-164.1deg	[env.py: 1019]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88645018  0.45671413  0.0415171 ] yaw=177.9deg	[env.py: 1019]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85244957  0.89403283  0.0415171 ] yaw=-157.3deg	[env.py: 1019]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.7ms	[env.py: 1075]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.671, 0.042)	[env.py: 1079]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg	[env.py: 1082]
-05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:39:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:39:52 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.182s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:39:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:39:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:39:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.523[deg]	[grasp_sample.py: 539]
-05/11 03:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:39:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:39:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:39:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:40:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:40:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:40:17 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:40:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:40:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:40:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:40:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:40:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:40:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.25s (batch: 4.67s, save: 11.58s)	[pipeline.py: 300]
-05/11 03:41:02 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.44s:
-  episode_total: mean=178.93s, total=536.79s, count=3, min=158881.5ms, max=209471.5ms
-  sensor_polling: mean=510.9ms, total=428.15s, count=838, min=432.0ms, max=1051.1ms
-  physics_step: mean=24.7ms, total=20.70s, count=838, min=15.2ms, max=104.4ms
-  save_trajectories: mean=11.58s, total=11.58s, count=1, min=11576.2ms, max=11576.2ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.1ms, max=4670.1ms
-  task_sampling: mean=479.4ms, total=1.44s, count=3, min=445.9ms, max=523.8ms
-  task_specific_sample: mean=475.1ms, total=1.43s, count=3, min=440.7ms, max=519.7ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=425.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:41:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:41:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:41:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063142m	[env.py: 870]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66250436  0.40592971  0.06314217] yaw=176.0deg	[env.py: 1019]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86606403  0.20867838  0.06314217] yaw=160.2deg	[env.py: 1019]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73965615  0.96401875  0.06314217] yaw=-143.1deg	[env.py: 1019]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.6ms, total=321.7ms	[env.py: 1075]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.406, 0.063)	[env.py: 1079]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
-05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:41:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:41:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:41:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:41:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:41:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 89.009[deg]	[grasp_sample.py: 539]
-05/11 03:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:41:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:41:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:41:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:41:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:41:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:41:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:41:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:41:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.165[deg]	[grasp_sample.py: 539]
-05/11 03:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:41:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:41:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:41:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:41:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:41:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:41:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:41:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:41:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:41:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:41:54 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.885[deg]	[grasp_sample.py: 539]
-05/11 03:41:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:41:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:41:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:42:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:42:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:42:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:42:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:42:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.30s (batch: 4.84s, save: 11.46s)	[pipeline.py: 300]
-05/11 03:42:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.97s:
-  episode_total: mean=184.87s, total=369.74s, count=2, min=160034.0ms, max=209707.6ms
-  sensor_polling: mean=508.4ms, total=283.20s, count=557, min=432.7ms, max=1189.6ms
-  physics_step: mean=24.6ms, total=13.70s, count=557, min=17.7ms, max=86.4ms
-  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.4ms, max=11460.4ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.8ms, max=4840.8ms
-  task_sampling: mean=485.4ms, total=970.9ms, count=2, min=375.6ms, max=595.2ms
-  task_specific_sample: mean=480.9ms, total=961.9ms, count=2, min=372.6ms, max=589.3ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=1.2ms, total=2.3ms, count=2, min=0.4ms, max=1.9ms
-  policy_setup: mean=32.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:42:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:42:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:42:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:42:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:42:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:42:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055754m	[env.py: 870]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96386093  0.19529431  0.0557537 ] yaw=165.9deg	[env.py: 1019]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78508702  0.06301189  0.0557537 ] yaw=154.9deg	[env.py: 1019]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96652933  0.79490721  0.0557537 ] yaw=-165.5deg	[env.py: 1019]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms	[env.py: 1075]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.195, 0.056)	[env.py: 1079]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
-05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:42:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:42:40 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:42:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.159s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:42:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:42:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.298s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:42:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.590[deg]	[grasp_sample.py: 539]
-05/11 03:42:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:42:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:42:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:42:53 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.874s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:42:53 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.036[m] 12.436[deg]	[grasp_sample.py: 539]
-05/11 03:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:42:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:42:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:42:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:43:03 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:43:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:43:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:43:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:43:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:43:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:43:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.80s (batch: 4.62s, save: 13.18s)	[pipeline.py: 300]
-05/11 03:43:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.71s:
-  episode_total: mean=210.15s, total=210.15s, count=1, min=210152.2ms, max=210152.2ms
-  sensor_polling: mean=511.4ms, total=153.41s, count=300, min=445.1ms, max=783.1ms
-  save_trajectories: mean=13.18s, total=13.18s, count=1, min=13177.5ms, max=13177.5ms
-  physics_step: mean=23.4ms, total=7.02s, count=300, min=17.8ms, max=76.1ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4622.7ms, max=4622.7ms
-  task_sampling: mean=708.7ms, total=708.7ms, count=1, min=708.7ms, max=708.7ms
-  task_specific_sample: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  scene_randomize: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
-  mj_forward_sync: mean=500.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:43:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:43:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:43:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:43:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067415m	[env.py: 870]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62809122  0.51500856  0.06741524] yaw=-171.7deg	[env.py: 1019]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89964443  0.60257767  0.06741524] yaw=-171.9deg	[env.py: 1019]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88652781  0.89889746  0.06741524] yaw=-147.7deg	[env.py: 1019]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.7ms, total=315.7ms	[env.py: 1075]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.515, 0.067)	[env.py: 1079]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg	[env.py: 1082]
-05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:43:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:43:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:43:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:43:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:43:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:43:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:43:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.653[m] 95.240[deg]	[grasp_sample.py: 539]
-05/11 03:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:43:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:43:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:43:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:43:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:43:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:43:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:43:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:43:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:43:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:43:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.78s, save: 9.69s)	[pipeline.py: 300]
-05/11 03:43:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.54s:
-  episode_total: mean=271.19s, total=271.19s, count=1, min=271187.1ms, max=271187.1ms
-  sensor_polling: mean=530.8ms, total=159.24s, count=300, min=457.5ms, max=1014.5ms
-  save_trajectories: mean=9.69s, total=9.69s, count=1, min=9691.9ms, max=9691.9ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.1ms, max=89.0ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4778.3ms, max=4778.3ms
-  task_sampling: mean=538.0ms, total=538.0ms, count=1, min=538.0ms, max=538.0ms
-  task_specific_sample: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
-  scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  mj_forward_sync: mean=658.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:43:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:43:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:43:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:43:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023644m	[env.py: 870]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84486815  0.24949363  0.02364394] yaw=169.9deg	[env.py: 1019]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86720101  0.94646827  0.02364394] yaw=-160.3deg	[env.py: 1019]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=694.4ms, total=694.4ms	[env.py: 1075]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.249, 0.024)	[env.py: 1079]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg	[env.py: 1082]
-05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
-05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:43:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:43:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:43:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:43:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 91.075[deg]	[grasp_sample.py: 539]
-05/11 03:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:43:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:44:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:44:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:44:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.26s (batch: 5.67s, save: 8.60s)	[pipeline.py: 300]
-05/11 03:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.71s:
-  episode_total: mean=206.33s, total=206.33s, count=1, min=206328.9ms, max=206328.9ms
-  sensor_polling: mean=523.5ms, total=157.06s, count=300, min=438.9ms, max=1091.5ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.5ms, max=8598.5ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.2ms, max=113.9ms
-  save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms
-  task_sampling: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms
-  task_specific_sample: mean=705.9ms, total=705.9ms, count=1, min=705.9ms, max=705.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:44:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.291[deg]	[grasp_sample.py: 539]
-05/11 03:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:44:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:44:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:44:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:44:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:44:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015278m	[env.py: 870]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73879682  0.80474414  0.01527787] yaw=-167.0deg	[env.py: 1019]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72464145 -0.00520542  0.01527787] yaw=151.7deg	[env.py: 1019]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80924422  0.13954978  0.01527787] yaw=163.2deg	[env.py: 1019]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.6ms	[env.py: 1075]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.805, 0.015)	[env.py: 1079]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg	[env.py: 1082]
-05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/11 03:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:44:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:44:32 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 84.763[deg]	[grasp_sample.py: 539]
-05/11 03:44:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:44:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:44:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:44:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.352s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg]	[grasp_sample.py: 539]
-05/11 03:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:44:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:44:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:44:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:44:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.052[m] 2.041[deg]	[grasp_sample.py: 539]
-05/11 03:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/11 03:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:44:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:44:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:44:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:44:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:44:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:44:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080972m	[env.py: 870]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:44:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85873751  0.43326256  0.08097246] yaw=179.1deg	[env.py: 1019]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms	[env.py: 1075]
-05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.433, 0.081)	[env.py: 1079]
-05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg	[env.py: 1082]
-05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:44:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:44:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 101.482[deg]	[grasp_sample.py: 539]
-05/11 03:44:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:44:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:44:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:44:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:44:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:44:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:44:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.353s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:44:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg]	[grasp_sample.py: 539]
-05/11 03:44:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:45:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:45:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:45:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:45:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/11 03:45:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/11 03:45:12 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.56s:
-  episode_total: mean=151.62s, total=151.62s, count=1, min=151619.7ms, max=151619.7ms
-  sensor_polling: mean=533.1ms, total=102.89s, count=193, min=447.1ms, max=1014.4ms
-  physics_step: mean=25.3ms, total=4.88s, count=193, min=13.0ms, max=104.0ms
-  task_sampling: mean=558.2ms, total=558.2ms, count=1, min=558.2ms, max=558.2ms
-  task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=491.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:45:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:45:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:45:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:45:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:45:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083679m	[env.py: 870]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66016826  0.79564797  0.08367919] yaw=-174.4deg	[env.py: 1019]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02116707  0.83744707  0.08367919] yaw=-157.5deg	[env.py: 1019]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04817777  1.13303913  0.08367919] yaw=-126.4deg	[env.py: 1019]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms	[env.py: 1075]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.796, 0.084)	[env.py: 1079]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
-05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:45:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:45:14 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:45:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:45:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:45:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:45:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.677[m] 91.923[deg]	[grasp_sample.py: 539]
-05/11 03:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:45:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:45:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:45:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:45:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:45:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:45:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:45:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:45:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:46:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/11 03:46:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/11 03:46:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:46:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:46:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:46:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:46:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.980[deg]	[grasp_sample.py: 539]
-05/11 03:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:46:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:46:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:46:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:46:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:46:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:47:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:47:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes	[pipeline.py: 238]
-05/11 03:47:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:47:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:47:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:47:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:47:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.51s (batch: 4.44s, save: 9.07s)	[pipeline.py: 300]
-05/11 03:47:33 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.05s:
-  episode_total: mean=228.40s, total=228.40s, count=1, min=228397.6ms, max=228397.6ms
-  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=445.5ms, max=1099.1ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9069.5ms, max=9069.5ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=15.2ms, max=110.0ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.5ms, max=4440.5ms
-  task_sampling: mean=1.05s, total=1.05s, count=1, min=1050.8ms, max=1050.8ms
-  task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1018.1ms, max=1018.1ms
-  scene_randomize: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  mj_forward_sync: mean=783.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:47:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:47:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080466m	[env.py: 870]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75914341  0.22410733  0.0804664 ] yaw=158.5deg	[env.py: 1019]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87657717  0.10703589  0.0804664 ] yaw=145.6deg	[env.py: 1019]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=169.4ms, total=169.4ms	[env.py: 1075]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.224, 0.080)	[env.py: 1079]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
-05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:47:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:47:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:47:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:47:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.561[m] 90.432[deg]	[grasp_sample.py: 539]
-05/11 03:47:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:47:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:47:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:47:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:47:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes	[pipeline.py: 238]
-05/11 03:47:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:47:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:47:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:47:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.39s (batch: 4.06s, save: 8.33s)	[pipeline.py: 300]
-05/11 03:47:58 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
-  episode_total: mean=206.86s, total=206.86s, count=1, min=206864.9ms, max=206864.9ms
-  sensor_polling: mean=521.4ms, total=156.41s, count=300, min=439.3ms, max=855.5ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.1ms, max=8332.1ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.8ms, max=102.0ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.7ms, max=4060.7ms
-  task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms
-  task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=610.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:48:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:48:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:48:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:48:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:48:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:48:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035730m	[env.py: 870]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:48:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00583524  0.99768106  0.0357297 ] yaw=-141.6deg	[env.py: 1019]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92963344  1.23738453  0.0357297 ] yaw=-130.8deg	[env.py: 1019]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89933183  1.11933397  0.0357297 ] yaw=-143.7deg	[env.py: 1019]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:48:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms	[env.py: 1075]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.998, 0.036)	[env.py: 1079]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
-05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:48:01 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:48:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:48:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:48:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:48:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:48:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:48:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 87.800[deg]	[grasp_sample.py: 539]
-05/11 03:48:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:48:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:48:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:03 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/11 03:48:10 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:48:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes	[pipeline.py: 238]
-05/11 03:48:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:48:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:48:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:48:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.56s (batch: 4.26s, save: 9.30s)	[pipeline.py: 300]
-05/11 03:48:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s:
-  episode_total: mean=149.64s, total=299.28s, count=2, min=90762.3ms, max=208519.7ms
-  sensor_polling: mean=523.8ms, total=228.36s, count=436, min=432.3ms, max=1001.2ms
-  physics_step: mean=24.6ms, total=10.74s, count=436, min=14.6ms, max=70.8ms
-  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9297.3ms, max=9297.3ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.1ms, max=4258.1ms
-  task_sampling: mean=550.0ms, total=1.10s, count=2, min=485.6ms, max=614.5ms
-  task_specific_sample: mean=546.7ms, total=1.09s, count=2, min=482.6ms, max=610.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=411.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:48:24 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015	[pipeline.py: 1174]
-05/11 03:48:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes	[pipeline.py: 238]
-05/11 03:48:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/11 03:48:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:48:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:48:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:48:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:48:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:48:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032657m	[env.py: 870]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:48:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83362872  0.12770432  0.03265668] yaw=168.3deg	[env.py: 1019]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68341456  0.57000592  0.03265668] yaw=-185.7deg	[env.py: 1019]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92004335  0.96073435  0.03265668] yaw=-137.3deg	[env.py: 1019]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:48:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms	[env.py: 1075]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.128, 0.033)	[env.py: 1079]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
-05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:48:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:48:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:48:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:48:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:48:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:48:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 88.461[deg]	[grasp_sample.py: 539]
-05/11 03:48:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:48:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:48:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/11 03:48:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015	[save_utils.py: 785]
-05/11 03:48:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.34s (batch: 4.45s, save: 7.88s)	[pipeline.py: 300]
-05/11 03:48:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s:
-  episode_total: mean=204.10s, total=204.10s, count=1, min=204095.4ms, max=204095.4ms
-  sensor_polling: mean=521.4ms, total=156.42s, count=300, min=423.5ms, max=833.7ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.8ms, max=7884.8ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=15.4ms, max=83.5ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.7ms, max=4453.7ms
-  task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms
-  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=415.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/11 03:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/11 03:48:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/11 03:48:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/11 03:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/11 03:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/11 03:48:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012748m	[env.py: 870]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
-05/11 03:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85344403  0.20166743  0.01274769] yaw=169.8deg	[env.py: 1019]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04417625  0.85522167  0.01274769] yaw=-159.7deg	[env.py: 1019]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12418287  1.17822263  0.01274769] yaw=-134.0deg	[env.py: 1019]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/11 03:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms	[env.py: 1075]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.202, 0.013)	[env.py: 1079]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/11 03:48:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/11 03:48:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
-05/11 03:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/11 03:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/11 03:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/11 03:48:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/11 03:48:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
-05/11 03:48:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 91.051[deg]	[grasp_sample.py: 539]
-05/11 03:48:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/11 03:48:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/11 03:48:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:48:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:48:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:49:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:49:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:49:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:49:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:49:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:49:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/11 03:49:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/11 03:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/11 03:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
diff --git a/fridge_7/chunk_015/shard_1_of_4.log b/fridge_7/chunk_015/shard_1_of_4.log
deleted file mode 100644
index 9ecee7eaf7bc1d2bef8fd713a770671b49e5411e..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_015/shard_1_of_4.log
+++ /dev/null
@@ -1,1242 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015
-  shard=1/4  seed=21501  samples=3
-  CUDA_VISIBLE_DEVICES=0
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 03:15:35 INFO pipeline.py:1367] {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7381be16a1d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21501,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 127001078318096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127001078318096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 127001078318096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 127001078318096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 127001074452048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127001074452048 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127001074457232 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127001074457232 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127001074457232 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127001074457232 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127001074452048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127001074452048 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127001073709072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127001073709072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 127001073706832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127001073706832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 127001073706832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 127001073706832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 127001073709072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 127001073709072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 644b44ef9ec0 at 0x7381be50c090>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 644b44efb9f0 at 0x7381be512210>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 644b44efb9f0 at 0x7381be69a2d0>
-[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007136m
-[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89961631  0.34573312  0.00713649] yaw=176.3deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95030226  0.22862237  0.00713649] yaw=169.5deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97053286  1.19323584  0.00713649] yaw=-138.3deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=418.9ms, total=463.5ms
-[05/11 03:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.346, 0.007)
-[05/11 03:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 03:16:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.466s
-[05/11 03:16:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:16:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:16:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 86.070[deg]
-[05/11 03:16:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:16:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:18:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 03:18:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:18:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:18:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
-[05/11 03:19:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 03:19:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:19:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.40s (batch: 4.52s, save: 8.88s)
-[05/11 03:19:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.84s:
-  episode_total: mean=218.09s, total=218.09s, count=1, min=218086.3ms, max=218086.3ms
-  sensor_polling: mean=481.7ms, total=140.65s, count=292, min=459.9ms, max=686.7ms
-  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.7ms, max=8883.7ms
-  physics_step: mean=23.6ms, total=6.90s, count=292, min=16.0ms, max=35.5ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.0ms, max=4520.0ms
-  task_sampling: mean=3.84s, total=3.84s, count=1, min=3841.2ms, max=3841.2ms
-  scene_load: mean=2.83s, total=2.83s, count=1, min=2830.0ms, max=2830.0ms
-  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1832.0ms, max=1832.0ms
-  task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1005.3ms, max=1005.3ms
-  scene_compile: mean=783.3ms, total=783.3ms, count=1, min=783.3ms, max=783.3ms
-  compile_mujoco: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms
-  compile_xml_load: mean=141.2ms, total=141.2ms, count=1, min=141.2ms, max=141.2ms
-  scene_init: mean=119.9ms, total=119.9ms, count=1, min=119.9ms, max=119.9ms
-  scene_asset_install: mean=94.5ms, total=94.5ms, count=1, min=94.5ms, max=94.5ms
-  asset_install_grasps: mean=59.5ms, total=59.5ms, count=1, min=59.5ms, max=59.5ms
-  compile_aux_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
-  compile_aux_policy_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
-  asset_install_scene: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms
-  asset_install_objects: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
-  compile_robot_add: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=44.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:19:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:19:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
-[05/11 03:19:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:19:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:19:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071340m
-[05/11 03:19:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:19:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:19:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88148199  0.27751991  0.07133959] yaw=168.2deg
-[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95486622  0.10041249  0.07133959] yaw=158.5deg
-[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80868974  0.66748343  0.07133959] yaw=-176.2deg
-[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:19:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:19:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.1ms
-[05/11 03:19:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.278, 0.071)
-[05/11 03:19:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg
-[05/11 03:19:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:19:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 03:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
-[05/11 03:19:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:19:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:19:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:19:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True
-[05/11 03:19:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.396[m] 87.301[deg]
-[05/11 03:19:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:20:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:21:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:21:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:21:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
-[05/11 03:21:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.543s, found feasible grasp: True
-[05/11 03:21:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.550[deg]
-[05/11 03:21:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:21:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:21:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:21:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:21:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:21:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
-[05/11 03:21:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:21:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:21:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066057m
-[05/11 03:21:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:21:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:21:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85457939  0.75807875  0.0660568 ] yaw=-154.0deg
-[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93820141  0.84368813  0.0660568 ] yaw=-143.6deg
-[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9275821   0.76739722  0.0660568 ] yaw=-171.1deg
-[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:21:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:21:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.2ms, total=304.2ms
-[05/11 03:21:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.758, 0.066)
-[05/11 03:21:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg
-[05/11 03:21:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
-[05/11 03:21:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:21:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:21:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 03:21:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
-[05/11 03:21:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:21:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:21:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:21:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
-[05/11 03:21:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.452[m] 83.724[deg]
-[05/11 03:21:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:23:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:24:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:24:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:24:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:24:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:24:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:24:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.73s (batch: 4.49s, save: 8.24s)
-[05/11 03:24:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.98s:
-  episode_total: mean=150.27s, total=300.55s, count=2, min=111807.5ms, max=188740.2ms
-  sensor_polling: mean=476.3ms, total=236.25s, count=496, min=441.2ms, max=680.6ms
-  physics_step: mean=22.4ms, total=11.09s, count=496, min=17.1ms, max=33.8ms
-  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8244.2ms, max=8244.2ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.5ms, max=4486.5ms
-  task_sampling: mean=490.1ms, total=980.2ms, count=2, min=411.2ms, max=569.0ms
-  task_specific_sample: mean=486.6ms, total=973.3ms, count=2, min=407.4ms, max=565.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=438.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:24:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:24:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:24:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 03:24:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:24:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:24:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064817m
-[05/11 03:24:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:24:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:24:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87034528  0.83148243  0.06481704] yaw=-158.3deg
-[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74451846  0.43770765  0.06481704] yaw=185.4deg
-[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80594584  1.09666437  0.06481704] yaw=-138.6deg
-[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:24:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:24:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms
-[05/11 03:24:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.831, 0.065)
-[05/11 03:24:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg
-[05/11 03:24:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:24:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:24:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 03:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 03:24:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:24:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:24:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:24:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
-[05/11 03:24:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.457[m] 88.981[deg]
-[05/11 03:24:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:25:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:25:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:27:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:27:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:27:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:27:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:27:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:27:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:27:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.89s (batch: 4.32s, save: 8.57s)
-[05/11 03:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
-  episode_total: mean=202.56s, total=202.56s, count=1, min=202563.2ms, max=202563.2ms
-  sensor_polling: mean=503.0ms, total=150.90s, count=300, min=438.2ms, max=1078.4ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.8ms, max=8571.8ms
-  physics_step: mean=24.1ms, total=7.22s, count=300, min=15.7ms, max=89.4ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.2ms, max=4318.2ms
-  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
-  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=414.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
-[05/11 03:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031017m
-[05/11 03:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97156527  0.94456377  0.03101667] yaw=-145.9deg
-[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9031036   0.89461241  0.03101667] yaw=-145.5deg
-[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88031729  0.61918746  0.03101667] yaw=-169.2deg
-[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.2ms, total=141.3ms
-[05/11 03:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.945, 0.031)
-[05/11 03:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
-[05/11 03:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:27:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:27:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 03:27:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 03:27:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:27:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
-[05/11 03:27:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
-[05/11 03:27:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.424[m] 89.766[deg]
-[05/11 03:27:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:28:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:28:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:30:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:30:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:30:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:30:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:31:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:31:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:31:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.37s, save: 10.11s)
-[05/11 03:31:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
-  episode_total: mean=208.82s, total=208.82s, count=1, min=208816.4ms, max=208816.4ms
-  sensor_polling: mean=515.5ms, total=154.65s, count=300, min=435.2ms, max=959.7ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10106.3ms, max=10106.3ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=17.9ms, max=107.0ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.2ms, max=4365.2ms
-  task_sampling: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms
-  task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=596.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:31:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:31:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:31:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:31:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:31:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:31:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:31:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/11 03:31:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:31:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:31:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084125m
-[05/11 03:31:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:31:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:31:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04155463  1.15376563  0.0841248 ] yaw=-143.0deg
-[05/11 03:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81025765  0.29281103  0.0841248 ] yaw=165.2deg
-[05/11 03:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:31:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:31:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.0ms, total=244.0ms
-[05/11 03:31:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.154, 0.084)
-[05/11 03:31:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg
-[05/11 03:31:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
-[05/11 03:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:31:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 03:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 03:31:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:31:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:31:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/11 03:31:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True
-[05/11 03:31:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 82.454[deg]
-[05/11 03:31:17 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:31:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:31:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:31:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:31:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:31:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:31:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:31:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
-[05/11 03:31:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:31:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:31:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011962m
-[05/11 03:31:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:31:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:31:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:31:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67249064  0.8639138   0.01196235] yaw=-150.6deg
-[05/11 03:31:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:31:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80016262  0.21893148  0.01196235] yaw=155.9deg
-[05/11 03:31:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:31:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74629135  0.41029494  0.01196235] yaw=186.3deg
-[05/11 03:31:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:31:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:31:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms
-[05/11 03:31:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.864, 0.012)
-[05/11 03:31:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg
-[05/11 03:31:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m
-[05/11 03:31:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:31:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:31:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:31:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:31:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:31:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 03:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/11 03:31:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:31:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:31:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/11 03:31:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True
-[05/11 03:31:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.674[m] 85.087[deg]
-[05/11 03:31:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:31:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:31:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:34:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:34:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:34:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:34:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:34:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:34:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:34:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.37s (batch: 4.04s, save: 8.32s)
-[05/11 03:34:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.92s:
-  episode_total: mean=102.87s, total=205.74s, count=2, min=3267.3ms, max=202473.7ms
-  sensor_polling: mean=506.0ms, total=151.80s, count=300, min=432.8ms, max=971.6ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8324.0ms, max=8324.0ms
-  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.1ms, max=136.1ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms
-  task_sampling: mean=458.4ms, total=916.9ms, count=2, min=375.0ms, max=541.9ms
-  task_specific_sample: mean=454.8ms, total=909.5ms, count=2, min=372.1ms, max=537.5ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=429.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:34:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:34:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:34:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:34:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:34:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:34:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:34:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
-[05/11 03:34:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:34:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:34:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096489m
-[05/11 03:34:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:34:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:34:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64826685  0.70949934  0.09648935] yaw=-157.3deg
-[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78873961  0.98846192  0.09648935] yaw=-149.2deg
-[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71970079  0.02457172  0.09648935] yaw=148.9deg
-[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:34:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:34:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms
-[05/11 03:34:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.709, 0.096)
-[05/11 03:34:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.3 deg
-[05/11 03:34:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
-[05/11 03:34:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:34:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:34:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:34:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:34:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:34:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 03:34:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 03:34:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:34:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:34:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 03:34:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True
-[05/11 03:34:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.399[deg]
-[05/11 03:34:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:36:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:36:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:36:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:36:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:36:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:36:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:36:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 82 non-colliding grasps
-[05/11 03:36:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 6.535s, found feasible grasp: True
-[05/11 03:36:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.220[m] 1.990[deg]
-[05/11 03:36:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:36:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:36:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:36:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
-[05/11 03:36:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:36:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:36:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048575m
-[05/11 03:36:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:36:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:36:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90698368  0.59849913  0.04857485] yaw=-169.9deg
-[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86729377  1.1201851   0.04857485] yaw=-138.6deg
-[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88138684  0.27171043  0.04857485] yaw=161.9deg
-[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:36:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:36:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms
-[05/11 03:36:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.598, 0.049)
-[05/11 03:36:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg
-[05/11 03:36:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:36:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:36:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:36:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 03:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
-[05/11 03:36:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:36:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:36:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 03:36:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True
-[05/11 03:36:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.411[m] 97.422[deg]
-[05/11 03:36:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:39:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:39:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:39:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:39:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:39:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:39:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:39:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.79s (batch: 4.35s, save: 9.44s)
-[05/11 03:39:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
-  episode_total: mean=152.22s, total=304.43s, count=2, min=96420.7ms, max=208013.8ms
-  sensor_polling: mean=506.1ms, total=219.66s, count=434, min=439.1ms, max=1082.9ms
-  physics_step: mean=23.9ms, total=10.36s, count=434, min=15.3ms, max=77.9ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.6ms, max=4348.6ms
-  task_sampling: mean=452.4ms, total=904.7ms, count=2, min=416.1ms, max=488.6ms
-  task_specific_sample: mean=448.5ms, total=897.0ms, count=2, min=412.5ms, max=484.5ms
-  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:39:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:39:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
-[05/11 03:39:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:39:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:39:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041517m
-[05/11 03:39:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:39:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:39:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89324468  0.67060316  0.0415171 ] yaw=-164.1deg
-[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88645018  0.45671413  0.0415171 ] yaw=177.9deg
-[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85244957  0.89403283  0.0415171 ] yaw=-157.3deg
-[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:39:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:39:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.7ms
-[05/11 03:39:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.671, 0.042)
-[05/11 03:39:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg
-[05/11 03:39:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:39:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 03:39:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.182s
-[05/11 03:39:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:39:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:39:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
-[05/11 03:39:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True
-[05/11 03:39:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.523[deg]
-[05/11 03:39:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:40:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:43:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:43:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:43:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:43:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:43:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:43:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 17.80s (batch: 4.62s, save: 13.18s)
-[05/11 03:43:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.71s:
-  episode_total: mean=210.15s, total=210.15s, count=1, min=210152.2ms, max=210152.2ms
-  sensor_polling: mean=511.4ms, total=153.41s, count=300, min=445.1ms, max=783.1ms
-  save_trajectories: mean=13.18s, total=13.18s, count=1, min=13177.5ms, max=13177.5ms
-  physics_step: mean=23.4ms, total=7.02s, count=300, min=17.8ms, max=76.1ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4622.7ms, max=4622.7ms
-  task_sampling: mean=708.7ms, total=708.7ms, count=1, min=708.7ms, max=708.7ms
-  task_specific_sample: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
-  scene_randomize: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
-  mj_forward_sync: mean=500.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:43:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:43:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:43:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)
-[05/11 03:43:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:43:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:43:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067415m
-[05/11 03:43:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:43:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:43:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62809122  0.51500856  0.06741524] yaw=-171.7deg
-[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89964443  0.60257767  0.06741524] yaw=-171.9deg
-[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88652781  0.89889746  0.06741524] yaw=-147.7deg
-[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:43:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:43:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.7ms, total=315.7ms
-[05/11 03:43:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.515, 0.067)
-[05/11 03:43:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg
-[05/11 03:43:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.075m
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:43:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:43:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 03:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
-[05/11 03:43:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:43:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:43:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/11 03:43:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True
-[05/11 03:43:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.653[m] 95.240[deg]
-[05/11 03:43:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 03:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True
-[05/11 03:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.052[m] 2.041[deg]
-[05/11 03:44:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:44:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:44:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:44:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:44:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:44:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:44:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:44:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
-[05/11 03:44:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:44:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:44:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080972m
-[05/11 03:44:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:44:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:44:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85873751  0.43326256  0.08097246] yaw=179.1deg
-[05/11 03:44:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:44:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms
-[05/11 03:44:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.433, 0.081)
-[05/11 03:44:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg
-[05/11 03:44:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
-[05/11 03:44:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:44:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:44:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:44:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:44:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:44:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 03:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/11 03:44:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:44:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
-[05/11 03:44:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.436[m] 101.482[deg]
-[05/11 03:44:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:45:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:47:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:48:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:48:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes
-[05/11 03:48:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:48:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:48:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:48:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.56s (batch: 4.26s, save: 9.30s)
-[05/11 03:48:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s:
-  episode_total: mean=149.64s, total=299.28s, count=2, min=90762.3ms, max=208519.7ms
-  sensor_polling: mean=523.8ms, total=228.36s, count=436, min=432.3ms, max=1001.2ms
-  physics_step: mean=24.6ms, total=10.74s, count=436, min=14.6ms, max=70.8ms
-  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9297.3ms, max=9297.3ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.1ms, max=4258.1ms
-  task_sampling: mean=550.0ms, total=1.10s, count=2, min=485.6ms, max=614.5ms
-  task_specific_sample: mean=546.7ms, total=1.09s, count=2, min=482.6ms, max=610.9ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=411.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:48:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:48:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
-[05/11 03:48:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:48:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:48:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032657m
-[05/11 03:48:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:48:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:48:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83362872  0.12770432  0.03265668] yaw=168.3deg
-[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68341456  0.57000592  0.03265668] yaw=-185.7deg
-[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92004335  0.96073435  0.03265668] yaw=-137.3deg
-[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:48:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:48:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms
-[05/11 03:48:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.128, 0.033)
-[05/11 03:48:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg
-[05/11 03:48:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:48:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
-[05/11 03:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
-[05/11 03:48:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:48:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:48:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
-[05/11 03:48:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True
-[05/11 03:48:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.488[m] 88.461[deg]
-[05/11 03:48:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:49:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:49:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_015/shard_2_of_4.log b/fridge_7/chunk_015/shard_2_of_4.log
deleted file mode 100644
index 6424eef840a1cb1812cddf2b1b4b44d3ff5c1765..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_015/shard_2_of_4.log
+++ /dev/null
@@ -1,1260 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015
-  shard=2/4  seed=21502  samples=3
-  CUDA_VISIBLE_DEVICES=1
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:34 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 03:15:34 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 03:15:34 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 03:15:34 INFO pipeline.py:1367] {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a34906c30d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21502,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 03:15:34 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 03:15:34 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 134366178661520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134366178661520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 134366178661520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 134366178661520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 134366180573648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134366180573648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134366180580496 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134366180580496 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134366180580496 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134366180580496 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134366180573648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134366180573648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134366176644944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134366176644944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 134366176642512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134366176642512 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 134366176642512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 134366176642512 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 134366176644944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 134366176644944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 56707493ff20 at 0x7a3490c26810>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56707496dac0 at 0x7a3490c321d0>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56707496dac0 at 0x7a3490bbcdd0>
-[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
-[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000292m
-[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.00555496e-01  8.00358475e-01  2.92137039e-04] yaw=-168.3deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:15:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=12.7ms, retries=778.7ms, total=791.4ms
-[05/11 03:15:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.800, 0.000)
-[05/11 03:15:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg
-[05/11 03:15:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.956m
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.293s
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/11 03:16:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True
-[05/11 03:16:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.494[m] 88.037[deg]
-[05/11 03:16:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:18:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 03:19:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:19:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:19:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:19:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 03:19:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:19:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.37s (batch: 4.55s, save: 8.82s)
-[05/11 03:19:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.36s:
-  episode_total: mean=220.12s, total=220.12s, count=1, min=220116.6ms, max=220116.6ms
-  sensor_polling: mean=475.3ms, total=142.60s, count=300, min=451.2ms, max=646.2ms
-  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8818.7ms, max=8818.7ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.3ms, max=66.0ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4548.3ms, max=4548.3ms
-  task_sampling: mean=4.36s, total=4.36s, count=1, min=4363.6ms, max=4363.6ms
-  scene_load: mean=3.23s, total=3.23s, count=1, min=3225.6ms, max=3225.6ms
-  scene_env_create: mean=2.02s, total=2.02s, count=1, min=2021.2ms, max=2021.2ms
-  task_specific_sample: mean=1.13s, total=1.13s, count=1, min=1135.0ms, max=1135.0ms
-  scene_compile: mean=1.10s, total=1.10s, count=1, min=1102.4ms, max=1102.4ms
-  compile_mujoco: mean=707.8ms, total=707.8ms, count=1, min=707.8ms, max=707.8ms
-  compile_xml_load: mean=325.6ms, total=325.6ms, count=1, min=325.6ms, max=325.6ms
-  scene_init: mean=61.7ms, total=61.7ms, count=1, min=61.7ms, max=61.7ms
-  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
-  scene_asset_install: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
-  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
-  compile_robot_add: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/11 03:19:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:19:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:19:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
-[05/11 03:19:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:19:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:19:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091098m
-[05/11 03:19:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:19:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:19:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:19:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82483565  0.84246464  0.0910976 ] yaw=-164.0deg
-[05/11 03:19:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.01363047  1.20716176  0.0910976 ] yaw=-141.5deg
-[05/11 03:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:19:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:19:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms
-[05/11 03:19:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.842, 0.091)
-[05/11 03:19:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.0 deg
-[05/11 03:19:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.949m
-[05/11 03:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:19:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 03:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 03:19:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:19:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:19:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps
-[05/11 03:19:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True
-[05/11 03:19:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.512[m] 87.020[deg]
-[05/11 03:19:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:21:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:22:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:22:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:22:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:22:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:22:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:22:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.17s (batch: 4.26s, save: 8.91s)
-[05/11 03:22:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
-  episode_total: mean=187.12s, total=187.12s, count=1, min=187120.0ms, max=187120.0ms
-  sensor_polling: mean=475.4ms, total=142.62s, count=300, min=446.4ms, max=679.9ms
-  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8907.0ms, max=8907.0ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=19.2ms, max=33.6ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4265.0ms, max=4265.0ms
-  task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms
-  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=436.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:22:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:22:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 03:22:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:22:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:22:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064625m
-[05/11 03:22:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:22:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:22:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93517728  1.24983006  0.06462481] yaw=-126.6deg
-[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66621522  0.42812393  0.06462481] yaw=174.3deg
-[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73803355  0.24563791  0.06462481] yaw=170.0deg
-[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:22:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:22:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.8ms
-[05/11 03:22:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.250, 0.065)
-[05/11 03:22:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg
-[05/11 03:22:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.085m
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:22:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 03:22:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
-[05/11 03:22:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:22:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:22:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
-[05/11 03:22:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.596s, found feasible grasp: False
-[05/11 03:22:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
-    observation, _info = task.reset()  # don't update env after reset!
-                         ^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
-    self._registered_policy.reset()
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
-    grasp_pose_world = compute_grasp_pose(
-                       ^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
-    raise ValueError("No feasible grasp found")
-ValueError: No feasible grasp found
-[05/11 03:22:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:22:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
-[05/11 03:22:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:22:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:22:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064569m
-[05/11 03:22:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:22:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:22:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78906162  0.49560494  0.06456903] yaw=-173.9deg
-[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94726159  0.95157912  0.06456903] yaw=-150.1deg
-[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00632763  1.04001659  0.06456903] yaw=-150.4deg
-[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:22:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:22:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.1ms
-[05/11 03:22:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.496, 0.065)
-[05/11 03:22:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg
-[05/11 03:22:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:22:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 03:22:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
-[05/11 03:22:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:22:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:22:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:22:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True
-[05/11 03:22:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 98.467[deg]
-[05/11 03:22:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:24:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:25:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:25:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:25:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:25:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:25:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:25:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:25:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.84s (batch: 4.67s, save: 10.17s)
-[05/11 03:25:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.83s:
-  episode_total: mean=99.71s, total=199.43s, count=2, min=2174.2ms, max=197251.9ms
-  sensor_polling: mean=473.9ms, total=142.16s, count=300, min=442.1ms, max=693.3ms
-  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10174.7ms, max=10174.7ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=14.8ms, max=32.5ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.8ms, max=4666.8ms
-  task_sampling: mean=412.7ms, total=825.4ms, count=2, min=379.6ms, max=445.8ms
-  task_specific_sample: mean=409.3ms, total=818.6ms, count=2, min=376.8ms, max=441.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=430.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:25:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:25:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:25:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
-[05/11 03:25:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:25:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:25:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076831m
-[05/11 03:25:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:25:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:25:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92960919  1.06869268  0.07683093] yaw=-153.2deg
-[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68033825  0.87675813  0.07683093] yaw=-161.1deg
-[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94014105  0.12535748  0.07683093] yaw=143.7deg
-[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:25:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:25:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms
-[05/11 03:25:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.069, 0.077)
-[05/11 03:25:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg
-[05/11 03:25:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.970m
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:25:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:25:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 03:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/11 03:25:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:25:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:25:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
-[05/11 03:25:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True
-[05/11 03:25:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.539[m] 80.886[deg]
-[05/11 03:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:28:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:28:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:28:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:28:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:28:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:28:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:28:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:28:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:28:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/11 03:28:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.622s, found feasible grasp: True
-[05/11 03:28:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg]
-[05/11 03:28:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:28:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:28:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:28:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:28:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:28:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:28:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:28:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
-[05/11 03:28:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:28:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:28:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010810m
-[05/11 03:28:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:28:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:28:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:28:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:28:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80637939  0.07907997  0.01080995] yaw=166.9deg
-[05/11 03:28:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:28:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:28:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91626546  0.84223753  0.01080995] yaw=-153.2deg
-[05/11 03:28:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:28:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89098495  0.6146414   0.01080995] yaw=-180.5deg
-[05/11 03:28:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:28:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:28:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.6ms, total=110.7ms
-[05/11 03:28:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.079, 0.011)
-[05/11 03:28:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg
-[05/11 03:28:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m
-[05/11 03:28:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:28:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:28:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:28:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:28:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:28:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 03:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/11 03:28:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:28:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:28:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
-[05/11 03:28:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.710s, found feasible grasp: True
-[05/11 03:28:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.518[m] 77.938[deg]
-[05/11 03:28:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:31:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:31:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
-[05/11 03:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True
-[05/11 03:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.381[deg]
-[05/11 03:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:31:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:32:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:32:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:32:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:32:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:32:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:32:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.10s (batch: 4.24s, save: 8.86s)
-[05/11 03:32:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.96s:
-  episode_total: mean=203.30s, total=406.59s, count=2, min=176381.5ms, max=230212.9ms
-  sensor_polling: mean=519.8ms, total=308.78s, count=594, min=435.5ms, max=972.8ms
-  physics_step: mean=25.9ms, total=15.40s, count=594, min=13.8ms, max=90.0ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.7ms, max=8857.7ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.3ms, max=4240.3ms
-  task_sampling: mean=481.2ms, total=962.3ms, count=2, min=446.5ms, max=515.8ms
-  task_specific_sample: mean=476.5ms, total=953.0ms, count=2, min=441.7ms, max=511.4ms
-  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.1ms, max=2.8ms
-  mj_forward_sync: mean=665.3us, total=1.3ms, count=2, min=0.6ms, max=0.8ms
-  policy_setup: mean=27.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:32:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:32:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:32:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/11 03:32:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:32:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:32:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003276m
-[05/11 03:32:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:32:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:32:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95025718  0.30956795  0.00327616] yaw=162.7deg
-[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89220964  0.37363091  0.00327616] yaw=165.1deg
-[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01575284  0.97954785  0.00327616] yaw=-145.9deg
-[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:32:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:32:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=474.2ms, total=474.3ms
-[05/11 03:32:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.310, 0.003)
-[05/11 03:32:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg
-[05/11 03:32:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:32:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 03:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s
-[05/11 03:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:32:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps
-[05/11 03:32:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True
-[05/11 03:32:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.283[m] 77.001[deg]
-[05/11 03:32:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:33:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:33:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:34:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:34:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:34:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:34:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:34:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:34:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
-[05/11 03:34:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.904s, found feasible grasp: True
-[05/11 03:34:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg]
-[05/11 03:34:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:34:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:34:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:34:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:34:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:35:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:36:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:36:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:36:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.59s (batch: 4.61s, save: 8.98s)
-[05/11 03:36:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.77s:
-  episode_total: mean=225.86s, total=225.86s, count=1, min=225863.8ms, max=225863.8ms
-  sensor_polling: mean=520.6ms, total=156.19s, count=300, min=449.3ms, max=1048.1ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.2ms, max=8981.2ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.9ms, max=69.1ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.4ms, max=4607.4ms
-  task_sampling: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms
-  task_specific_sample: mean=761.1ms, total=761.1ms, count=1, min=761.1ms, max=761.1ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=631.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
-[05/11 03:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007962m
-[05/11 03:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04054296  1.14401853  0.00796217] yaw=-141.7deg
-[05/11 03:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08522835  0.96475583  0.00796217] yaw=-151.3deg
-[05/11 03:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:36:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:36:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.8ms, total=233.8ms
-[05/11 03:36:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.144, 0.008)
-[05/11 03:36:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.7 deg
-[05/11 03:36:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m
-[05/11 03:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:36:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:36:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 03:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
-[05/11 03:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
-[05/11 03:36:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.114s, found feasible grasp: True
-[05/11 03:36:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 89.755[deg]
-[05/11 03:36:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:37:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:38:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:38:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:39:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:39:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:39:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/11 03:39:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 5.076s, found feasible grasp: True
-[05/11 03:39:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.224[m] 2.991[deg]
-[05/11 03:39:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:39:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:39:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
-[05/11 03:39:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:39:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:39:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034308m
-[05/11 03:39:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:39:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:39:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9232798   0.82746261  0.03430795] yaw=-161.3deg
-[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95427587  0.10818949  0.03430795] yaw=149.0deg
-[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90137675  1.07680256  0.03430795] yaw=-136.0deg
-[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:39:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:39:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.3ms
-[05/11 03:39:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.827, 0.034)
-[05/11 03:39:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg
-[05/11 03:39:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:39:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 03:39:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
-[05/11 03:39:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:39:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:39:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
-[05/11 03:39:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True
-[05/11 03:39:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.430[m] 93.666[deg]
-[05/11 03:39:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:39:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:41:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:42:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:42:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:42:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:42:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:42:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:42:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.30s (batch: 4.84s, save: 11.46s)
-[05/11 03:42:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.97s:
-  episode_total: mean=184.87s, total=369.74s, count=2, min=160034.0ms, max=209707.6ms
-  sensor_polling: mean=508.4ms, total=283.20s, count=557, min=432.7ms, max=1189.6ms
-  physics_step: mean=24.6ms, total=13.70s, count=557, min=17.7ms, max=86.4ms
-  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.4ms, max=11460.4ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.8ms, max=4840.8ms
-  task_sampling: mean=485.4ms, total=970.9ms, count=2, min=375.6ms, max=595.2ms
-  task_specific_sample: mean=480.9ms, total=961.9ms, count=2, min=372.6ms, max=589.3ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=1.2ms, total=2.3ms, count=2, min=0.4ms, max=1.9ms
-  policy_setup: mean=32.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:42:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:42:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:42:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/11 03:42:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:42:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:42:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055754m
-[05/11 03:42:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:42:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:42:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96386093  0.19529431  0.0557537 ] yaw=165.9deg
-[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:42:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78508702  0.06301189  0.0557537 ] yaw=154.9deg
-[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96652933  0.79490721  0.0557537 ] yaw=-165.5deg
-[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:42:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:42:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms
-[05/11 03:42:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.195, 0.056)
-[05/11 03:42:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg
-[05/11 03:42:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:42:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:42:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:42:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 03:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.159s
-[05/11 03:42:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:42:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:42:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps
-[05/11 03:42:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.298s, found feasible grasp: True
-[05/11 03:42:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.590[deg]
-[05/11 03:42:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:44:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:44:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:44:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:44:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:44:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:44:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:44:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
-[05/11 03:44:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True
-[05/11 03:44:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.291[deg]
-[05/11 03:44:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:44:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 03:44:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/11 03:44:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.352s, found feasible grasp: True
-[05/11 03:44:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg]
-[05/11 03:44:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:44:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 03:44:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
-[05/11 03:44:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.353s, found feasible grasp: True
-[05/11 03:44:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg]
-[05/11 03:44:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:45:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:45:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:45:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:45:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:45:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
-[05/11 03:45:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False
-[05/11 03:45:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=False episode_total=0.56s:
-  episode_total: mean=151.62s, total=151.62s, count=1, min=151619.7ms, max=151619.7ms
-  sensor_polling: mean=533.1ms, total=102.89s, count=193, min=447.1ms, max=1014.4ms
-  physics_step: mean=25.3ms, total=4.88s, count=193, min=13.0ms, max=104.0ms
-  task_sampling: mean=558.2ms, total=558.2ms, count=1, min=558.2ms, max=558.2ms
-  task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=491.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:45:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:45:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:45:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:45:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:45:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:45:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:45:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
-[05/11 03:45:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:45:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:45:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083679m
-[05/11 03:45:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:45:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:45:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66016826  0.79564797  0.08367919] yaw=-174.4deg
-[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02116707  0.83744707  0.08367919] yaw=-157.5deg
-[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04817777  1.13303913  0.08367919] yaw=-126.4deg
-[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:45:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:45:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms
-[05/11 03:45:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.796, 0.084)
-[05/11 03:45:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg
-[05/11 03:45:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m
-[05/11 03:45:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:45:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 03:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
-[05/11 03:45:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:45:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:45:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:45:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True
-[05/11 03:45:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.677[m] 91.923[deg]
-[05/11 03:45:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:46:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:46:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:48:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:48:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:48:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes
-[05/11 03:48:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:48:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:48:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:48:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.34s (batch: 4.45s, save: 7.88s)
-[05/11 03:48:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s:
-  episode_total: mean=204.10s, total=204.10s, count=1, min=204095.4ms, max=204095.4ms
-  sensor_polling: mean=521.4ms, total=156.42s, count=300, min=423.5ms, max=833.7ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.8ms, max=7884.8ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=15.4ms, max=83.5ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.7ms, max=4453.7ms
-  task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms
-  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=415.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:48:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:48:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
-[05/11 03:48:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:48:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:48:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012748m
-[05/11 03:48:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:48:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:48:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85344403  0.20166743  0.01274769] yaw=169.8deg
-[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04417625  0.85522167  0.01274769] yaw=-159.7deg
-[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12418287  1.17822263  0.01274769] yaw=-134.0deg
-[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:48:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:48:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms
-[05/11 03:48:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.202, 0.013)
-[05/11 03:48:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
-[05/11 03:48:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.894m
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:48:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
-[05/11 03:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
-[05/11 03:48:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:48:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:48:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:48:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True
-[05/11 03:48:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.441[m] 91.051[deg]
-[05/11 03:48:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:49:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_015/shard_3_of_4.log b/fridge_7/chunk_015/shard_3_of_4.log
deleted file mode 100644
index 9dcf0a0fcd4e1a08f1eba8c1801748e7d42b29ac..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_015/shard_3_of_4.log
+++ /dev/null
@@ -1,1181 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015
-  shard=3/4  seed=21503  samples=3
-  CUDA_VISIBLE_DEVICES=2
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 03:15:35 INFO pipeline.py:1367] {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x76a70f4df3d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21503,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 130459885242960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130459885242960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 130459885242960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 130459885242960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 130459887984656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130459887984656 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130459887991120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130459887991120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130459887991120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130459887991120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130459887984656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130459887984656 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130459885274128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130459885274128 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 130459885274192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130459885274192 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 130459885274192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 130459885274192 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 130459885274128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 130459885274128 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 03:15:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60f7b7d4c7c0 at 0x76a70fa55390>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f7b7d7a360 at 0x76a70fa68310>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f7b7d7a360 at 0x76a70f9e3d10>
-[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053500m
-[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 03:15:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13470108  1.04856485  0.0534998 ] yaw=-131.7deg
-[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6996168  0.1538073  0.0534998] yaw=166.5deg
-[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82678663  0.60492779  0.0534998 ] yaw=-174.0deg
-[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:15:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:15:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=86.6ms, retries=239.1ms, total=325.7ms
-[05/11 03:15:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.049, 0.053)
-[05/11 03:15:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg
-[05/11 03:15:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.957s
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
-[05/11 03:16:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True
-[05/11 03:16:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.794[deg]
-[05/11 03:16:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:18:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:18:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:18:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
-[05/11 03:18:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.594s, found feasible grasp: True
-[05/11 03:18:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]
-[05/11 03:18:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:18:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:18:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:18:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
-[05/11 03:18:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:18:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:18:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050539m
-[05/11 03:18:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:18:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:18:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8335893   0.36343436  0.05053866] yaw=161.0deg
-[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95153852  1.16145925  0.05053866] yaw=-127.3deg
-[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97232874  0.1348168   0.05053866] yaw=157.2deg
-[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:18:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:18:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.3ms, total=295.3ms
-[05/11 03:18:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.363, 0.051)
-[05/11 03:18:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg
-[05/11 03:18:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:18:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:18:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:18:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 03:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
-[05/11 03:18:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:18:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:18:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 03:18:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
-[05/11 03:18:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.451[m] 93.560[deg]
-[05/11 03:18:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:21:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:21:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:21:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:21:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:21:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:21:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
-[05/11 03:21:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.420s, found feasible grasp: True
-[05/11 03:21:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.057[deg]
-[05/11 03:21:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:21:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:21:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:21:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:21:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:21:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:21:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:21:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
-[05/11 03:21:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:21:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:21:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024985m
-[05/11 03:21:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:21:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:21:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:21:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89222191  0.62188985  0.02498543] yaw=-163.5deg
-[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81400858  1.01336107  0.02498543] yaw=-159.3deg
-[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80787032  0.3774984   0.02498543] yaw=168.2deg
-[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:21:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:21:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms
-[05/11 03:21:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.622, 0.025)
-[05/11 03:21:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg
-[05/11 03:21:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m
-[05/11 03:21:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:21:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:21:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:21:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:21:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:21:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 03:21:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
-[05/11 03:21:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:21:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:21:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:21:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
-[05/11 03:21:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.426[m] 98.413[deg]
-[05/11 03:21:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:23:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 03:24:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:24:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:24:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:24:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 03:24:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:24:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.57s (batch: 4.41s, save: 8.16s)
-[05/11 03:24:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=4.78s:
-  episode_total: mean=174.80s, total=524.41s, count=3, min=163410.3ms, max=186060.3ms
-  sensor_polling: mean=473.7ms, total=387.48s, count=818, min=430.6ms, max=733.7ms
-  physics_step: mean=22.0ms, total=18.00s, count=818, min=16.4ms, max=42.9ms
-  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8161.3ms, max=8161.3ms
-  task_sampling: mean=1.59s, total=4.78s, count=3, min=544.6ms, max=3668.3ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.3ms, max=4411.3ms
-  scene_load: mean=3.03s, total=3.03s, count=1, min=3033.1ms, max=3033.1ms
-  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.9ms, max=1808.9ms
-  task_specific_sample: mean=578.6ms, total=1.74s, count=3, min=541.9ms, max=631.7ms
-  scene_compile: mean=895.7ms, total=895.7ms, count=1, min=895.7ms, max=895.7ms
-  compile_mujoco: mean=620.4ms, total=620.4ms, count=1, min=620.4ms, max=620.4ms
-  scene_init: mean=261.6ms, total=261.6ms, count=1, min=261.6ms, max=261.6ms
-  compile_xml_load: mean=200.8ms, total=200.8ms, count=1, min=200.8ms, max=200.8ms
-  scene_asset_install: mean=66.4ms, total=66.4ms, count=1, min=66.4ms, max=66.4ms
-  compile_aux_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
-  compile_aux_policy_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
-  asset_install_grasps: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
-  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
-  compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
-  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.4ms, max=1.8ms
-  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=515.5us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=25.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:24:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:24:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:24:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
-[05/11 03:24:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:24:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:24:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035357m
-[05/11 03:24:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:24:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:24:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87738159  0.22759427  0.03535665] yaw=165.8deg
-[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69108549  0.83610115  0.03535665] yaw=-155.5deg
-[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85088     0.80224965  0.03535665] yaw=-170.3deg
-[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:24:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:24:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.5ms
-[05/11 03:24:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.228, 0.035)
-[05/11 03:24:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg
-[05/11 03:24:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:24:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:24:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:24:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 03:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
-[05/11 03:24:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:24:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:24:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 03:24:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True
-[05/11 03:24:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.400[m] 85.484[deg]
-[05/11 03:24:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:26:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:26:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:26:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:26:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:26:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:26:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
-[05/11 03:26:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.552s, found feasible grasp: True
-[05/11 03:26:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]
-[05/11 03:26:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:27:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 03:27:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:27:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:27:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 70 non-colliding grasps
-[05/11 03:27:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.935s, found feasible grasp: True
-[05/11 03:27:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.487[deg]
-[05/11 03:27:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:27:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:28:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:28:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:28:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:28:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:28:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:28:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.95s (batch: 4.25s, save: 8.70s)
-[05/11 03:28:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
-  episode_total: mean=245.59s, total=245.59s, count=1, min=245587.9ms, max=245587.9ms
-  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=443.9ms, max=1071.1ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms
-  physics_step: mean=26.4ms, total=7.91s, count=300, min=14.7ms, max=135.4ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.8ms, max=4245.8ms
-  task_sampling: mean=380.1ms, total=380.1ms, count=1, min=380.1ms, max=380.1ms
-  task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:28:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:28:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:28:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:28:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:28:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:28:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:28:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
-[05/11 03:28:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:28:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:28:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051628m
-[05/11 03:28:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:28:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:28:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:28:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86963976  0.03378644  0.05162842] yaw=154.0deg
-[05/11 03:28:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:28:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93276929  0.08946945  0.05162842] yaw=163.9deg
-[05/11 03:28:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:28:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:28:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:28:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:28:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87805368  0.41201042  0.05162842] yaw=173.9deg
-[05/11 03:28:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:28:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:28:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms
-[05/11 03:28:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.034, 0.052)
-[05/11 03:28:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg
-[05/11 03:28:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
-[05/11 03:28:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:28:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:28:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:28:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:28:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:28:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
-[05/11 03:28:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
-[05/11 03:28:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:28:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:28:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
-[05/11 03:28:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True
-[05/11 03:28:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.538[m] 98.323[deg]
-[05/11 03:28:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:29:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:31:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:31:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:31:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:31:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:31:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:31:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:31:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.09s (batch: 3.96s, save: 8.13s)
-[05/11 03:32:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
-  episode_total: mean=207.36s, total=207.36s, count=1, min=207359.2ms, max=207359.2ms
-  sensor_polling: mean=537.5ms, total=161.26s, count=300, min=447.6ms, max=904.6ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.6ms, max=8133.6ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=79.8ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.9ms, max=3959.9ms
-  task_sampling: mean=467.0ms, total=467.0ms, count=1, min=467.0ms, max=467.0ms
-  task_specific_sample: mean=463.5ms, total=463.5ms, count=1, min=463.5ms, max=463.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=428.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:32:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:32:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:32:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:32:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:32:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:32:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
-[05/11 03:32:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:32:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:32:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094122m
-[05/11 03:32:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:32:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:32:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14189016  0.99618334  0.09412222] yaw=-127.8deg
-[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71397587  0.05984679  0.09412222] yaw=157.0deg
-[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9053027   0.1794617   0.09412222] yaw=150.4deg
-[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:32:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:32:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms
-[05/11 03:32:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.996, 0.094)
-[05/11 03:32:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg
-[05/11 03:32:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.761m
-[05/11 03:32:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:32:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:32:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:32:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:32:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 03:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
-[05/11 03:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True
-[05/11 03:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.335[m] 89.528[deg]
-[05/11 03:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:32:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:34:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:34:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:34:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:34:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:34:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:34:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:34:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
-[05/11 03:34:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.570s, found feasible grasp: True
-[05/11 03:34:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.376[deg]
-[05/11 03:34:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:34:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:34:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:34:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
-[05/11 03:34:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:34:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:34:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099164m
-[05/11 03:34:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:34:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:34:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91991972  1.15789928  0.0991641 ] yaw=-144.5deg
-[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88506633  0.35232633  0.0991641 ] yaw=169.9deg
-[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91905868  1.03149498  0.0991641 ] yaw=-141.3deg
-[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:34:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:34:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.7ms
-[05/11 03:34:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.920, 1.158, 0.099)
-[05/11 03:34:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg
-[05/11 03:34:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:34:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:34:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 03:34:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
-[05/11 03:34:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:34:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:34:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 03:34:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True
-[05/11 03:34:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.582[m] 81.425[deg]
-[05/11 03:34:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:34:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:34:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:35:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:36:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:37:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:37:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:37:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:37:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:37:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps
-[05/11 03:37:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.714s, found feasible grasp: True
-[05/11 03:37:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg]
-[05/11 03:37:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:37:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:37:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:37:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
-[05/11 03:37:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:37:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:37:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049989m
-[05/11 03:37:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:37:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:37:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83850691  0.57718344  0.04998891] yaw=-163.5deg
-[05/11 03:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06909299  0.91150532  0.04998891] yaw=-134.9deg
-[05/11 03:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:37:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74998768  0.44702536  0.04998891] yaw=183.7deg
-[05/11 03:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:37:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:37:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms
-[05/11 03:37:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.577, 0.050)
-[05/11 03:37:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg
-[05/11 03:37:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.869m
-[05/11 03:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:37:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:37:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 03:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
-[05/11 03:37:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:37:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:37:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
-[05/11 03:37:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True
-[05/11 03:37:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 85.342[deg]
-[05/11 03:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:40:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:40:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:40:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:40:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:41:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:41:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:41:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.25s (batch: 4.67s, save: 11.58s)
-[05/11 03:41:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.44s:
-  episode_total: mean=178.93s, total=536.79s, count=3, min=158881.5ms, max=209471.5ms
-  sensor_polling: mean=510.9ms, total=428.15s, count=838, min=432.0ms, max=1051.1ms
-  physics_step: mean=24.7ms, total=20.70s, count=838, min=15.2ms, max=104.4ms
-  save_trajectories: mean=11.58s, total=11.58s, count=1, min=11576.2ms, max=11576.2ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.1ms, max=4670.1ms
-  task_sampling: mean=479.4ms, total=1.44s, count=3, min=445.9ms, max=523.8ms
-  task_specific_sample: mean=475.1ms, total=1.43s, count=3, min=440.7ms, max=519.7ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=425.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-[05/11 03:41:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:41:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:41:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
-[05/11 03:41:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:41:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:41:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063142m
-[05/11 03:41:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:41:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:41:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66250436  0.40592971  0.06314217] yaw=176.0deg
-[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86606403  0.20867838  0.06314217] yaw=160.2deg
-[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73965615  0.96401875  0.06314217] yaw=-143.1deg
-[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:41:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:41:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.6ms, total=321.7ms
-[05/11 03:41:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.406, 0.063)
-[05/11 03:41:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
-[05/11 03:41:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:41:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:41:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 03:41:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 03:41:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:41:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:41:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
-[05/11 03:41:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
-[05/11 03:41:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.616[m] 89.009[deg]
-[05/11 03:41:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:42:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:43:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:44:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:44:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:44:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:44:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:44:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:44:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.26s (batch: 5.67s, save: 8.60s)
-[05/11 03:44:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.71s:
-  episode_total: mean=206.33s, total=206.33s, count=1, min=206328.9ms, max=206328.9ms
-  sensor_polling: mean=523.5ms, total=157.06s, count=300, min=438.9ms, max=1091.5ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.5ms, max=8598.5ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.2ms, max=113.9ms
-  save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms
-  task_sampling: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms
-  task_specific_sample: mean=705.9ms, total=705.9ms, count=1, min=705.9ms, max=705.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:44:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:44:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:44:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
-[05/11 03:44:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:44:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:44:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015278m
-[05/11 03:44:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:44:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:44:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73879682  0.80474414  0.01527787] yaw=-167.0deg
-[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72464145 -0.00520542  0.01527787] yaw=151.7deg
-[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:44:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80924422  0.13954978  0.01527787] yaw=163.2deg
-[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:44:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:44:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.6ms
-[05/11 03:44:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.805, 0.015)
-[05/11 03:44:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg
-[05/11 03:44:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:44:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
-[05/11 03:44:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:44:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:44:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
-[05/11 03:44:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.541s, found feasible grasp: True
-[05/11 03:44:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.550[m] 84.763[deg]
-[05/11 03:44:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:47:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:47:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:47:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes
-[05/11 03:47:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:47:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:47:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:47:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.39s (batch: 4.06s, save: 8.33s)
-[05/11 03:47:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
-  episode_total: mean=206.86s, total=206.86s, count=1, min=206864.9ms, max=206864.9ms
-  sensor_polling: mean=521.4ms, total=156.41s, count=300, min=439.3ms, max=855.5ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.1ms, max=8332.1ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.8ms, max=102.0ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.7ms, max=4060.7ms
-  task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms
-  task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=610.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:48:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:48:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
-[05/11 03:48:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:48:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:48:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035730m
-[05/11 03:48:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:48:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:48:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00583524  0.99768106  0.0357297 ] yaw=-141.6deg
-[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92963344  1.23738453  0.0357297 ] yaw=-130.8deg
-[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89933183  1.11933397  0.0357297 ] yaw=-143.7deg
-[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:48:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:48:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms
-[05/11 03:48:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.998, 0.036)
-[05/11 03:48:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg
-[05/11 03:48:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.867m
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:48:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:48:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:48:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 03:48:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
-[05/11 03:48:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:48:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:48:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:48:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True
-[05/11 03:48:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 87.800[deg]
-[05/11 03:48:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:48:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:48:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_015/shard_4_of_4.log b/fridge_7/chunk_015/shard_4_of_4.log
deleted file mode 100644
index d6238013322f2bdb06a4f8044dab17015d27a7b7..0000000000000000000000000000000000000000
--- a/fridge_7/chunk_015/shard_4_of_4.log
+++ /dev/null
@@ -1,1150 +0,0 @@
-==========================================
-Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015
-  shard=4/4  seed=21504  samples=3
-  CUDA_VISIBLE_DEVICES=3
-  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
-==========================================
-[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet is already up-to-date!
-[nltk_data] Downloading package wordnet2022 to
-[nltk_data]     /svl/u/ravenh/nltk_data...
-[nltk_data]   Package wordnet2022 is already up-to-date!
-/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
-  _assert_data_versions_match()
-INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
-INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
-INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
-[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
-[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration:
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
-  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
-  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath])
-  return self.__pydantic_serializer__.to_python(
-[05/11 03:15:35 INFO pipeline.py:1367] {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_015'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x798549a489d0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 21504,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.75, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 3,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}
-INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
-[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
-[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
-DEBUG:filelock:Attempting to acquire lock 133613368297552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133613368297552 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
-DEBUG:filelock:Attempting to release lock 133613368297552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Lock 133613368297552 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
-DEBUG:filelock:Attempting to acquire lock 133613371323344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133613371323344 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133613371312080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133613371312080 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133613371312080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133613371312080 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133613371323344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133613371323344 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133613368344912 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133613368344912 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Attempting to acquire lock 133613368346768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133613368346768 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
-DEBUG:filelock:Attempting to release lock 133613368346768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Lock 133613368346768 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
-DEBUG:filelock:Attempting to release lock 133613368344912 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-DEBUG:filelock:Lock 133613368344912 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
-[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
-DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5b5c714c37b0 at 0x798549e32650>
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b5c714f1350 at 0x79854994eb90>
-INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
-DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5b5c714f1350 at 0x798549dc84d0>
-[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
-[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053116m
-[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
-[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73532587  0.48650399  0.05311641] yaw=-179.4deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92200682  0.36569954  0.05311641] yaw=161.3deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96183297  1.07207804  0.05311641] yaw=-147.9deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=155.6ms, total=168.3ms
-[05/11 03:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.487, 0.053)
-[05/11 03:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg
-[05/11 03:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.967m
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:15:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:15:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-INFO:root:Using JAX default device: cuda:0.
-DEBUG:root:Picking default implementation: JAX.
-[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.358s
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True
-[05/11 03:16:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.028[deg]
-[05/11 03:16:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:17:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:18:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:18:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:18:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:18:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:18:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
-[05/11 03:18:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.443s, found feasible grasp: True
-[05/11 03:18:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.407[deg]
-[05/11 03:18:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:18:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
-/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
-  self.pid = _fork_exec(
-[05/11 03:19:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:19:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:19:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:19:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-DEBUG:h5py._conv:Creating converter from 5 to 3
-[05/11 03:19:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:19:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.00s (batch: 4.39s, save: 8.61s)
-[05/11 03:19:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.47s:
-  episode_total: mean=230.23s, total=230.23s, count=1, min=230229.6ms, max=230229.6ms
-  sensor_polling: mean=485.1ms, total=145.53s, count=300, min=449.6ms, max=665.6ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8609.7ms, max=8609.7ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=16.0ms, max=33.2ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.8ms, max=4387.8ms
-  task_sampling: mean=3.47s, total=3.47s, count=1, min=3468.6ms, max=3468.6ms
-  scene_load: mean=2.97s, total=2.97s, count=1, min=2971.6ms, max=2971.6ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.9ms, max=2044.9ms
-  scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms
-  compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms
-  task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
-  compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
-  scene_init: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
-  compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms
-  compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms
-  scene_asset_install: mean=39.1ms, total=39.1ms, count=1, min=39.1ms, max=39.1ms
-  asset_install_grasps: mean=28.9ms, total=28.9ms, count=1, min=28.9ms, max=28.9ms
-  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=398.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=56.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
-[05/11 03:19:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:19:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
-[05/11 03:19:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:19:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:19:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055817m
-[05/11 03:19:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:19:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:19:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69061881  0.88670388  0.05581727] yaw=-148.6deg
-[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93840625  0.58376849  0.05581727] yaw=-174.4deg
-[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621567  0.81677344  0.05581727] yaw=-163.4deg
-[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:19:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:19:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms
-[05/11 03:19:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.887, 0.056)
-[05/11 03:19:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg
-[05/11 03:19:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:19:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
-[05/11 03:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
-[05/11 03:19:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:19:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:19:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
-[05/11 03:19:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True
-[05/11 03:19:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.691[m] 88.232[deg]
-[05/11 03:19:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:22:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:22:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:22:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:22:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:22:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:22:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:22:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.74s (batch: 4.30s, save: 8.44s)
-[05/11 03:22:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.40s:
-  episode_total: mean=189.02s, total=189.02s, count=1, min=189023.1ms, max=189023.1ms
-  sensor_polling: mean=476.1ms, total=142.83s, count=300, min=446.5ms, max=671.7ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8437.3ms, max=8437.3ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=41.6ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.1ms, max=4300.1ms
-  task_sampling: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
-  task_specific_sample: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=433.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:22:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:22:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:22:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/11 03:22:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:22:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:22:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024151m
-[05/11 03:22:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:22:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:22:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:22:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78496458  0.15211121  0.02415136] yaw=165.6deg
-[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74628785  0.34163596  0.02415136] yaw=163.1deg
-[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96037957  0.81219704  0.02415136] yaw=-145.6deg
-[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:22:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:22:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.3ms, total=106.3ms
-[05/11 03:22:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.152, 0.024)
-[05/11 03:22:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg
-[05/11 03:22:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
-[05/11 03:22:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:22:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:22:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:22:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:22:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:22:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
-[05/11 03:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
-[05/11 03:22:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:22:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:22:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:22:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True
-[05/11 03:22:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.551[m] 96.146[deg]
-[05/11 03:22:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:22:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:22:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:23:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:25:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:25:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:25:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:25:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:25:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:25:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:25:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:25:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:25:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.97s (batch: 4.90s, save: 10.07s)
-[05/11 03:25:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s:
-  episode_total: mean=196.72s, total=196.72s, count=1, min=196724.4ms, max=196724.4ms
-  sensor_polling: mean=472.3ms, total=141.70s, count=300, min=440.6ms, max=671.6ms
-  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10067.0ms, max=10067.0ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=16.2ms, max=34.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4902.2ms, max=4902.2ms
-  task_sampling: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms
-  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:25:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:25:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:25:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/11 03:25:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:25:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:25:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003463m
-[05/11 03:25:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:25:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:25:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80292475  0.1407497   0.00346308] yaw=163.7deg
-[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9596315   0.67896932  0.00346308] yaw=-168.0deg
-[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76549647  0.63406985  0.00346308] yaw=-179.1deg
-[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:25:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:25:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.3ms
-[05/11 03:25:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.141, 0.003)
-[05/11 03:25:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg
-[05/11 03:25:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:25:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:25:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:25:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
-[05/11 03:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
-[05/11 03:25:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:25:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:25:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
-[05/11 03:25:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True
-[05/11 03:25:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.553[m] 95.855[deg]
-[05/11 03:25:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:27:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:28:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:29:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:29:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:29:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:29:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:29:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:29:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.31s (batch: 6.59s, save: 9.71s)
-[05/11 03:29:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s:
-  episode_total: mean=224.60s, total=224.60s, count=1, min=224600.9ms, max=224600.9ms
-  sensor_polling: mean=525.0ms, total=157.51s, count=300, min=448.4ms, max=900.2ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9713.8ms, max=9713.8ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=18.4ms, max=76.5ms
-  save_batch_prep: mean=6.59s, total=6.59s, count=1, min=6593.9ms, max=6593.9ms
-  task_sampling: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms
-  task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
-  scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
-  mj_forward_sync: mean=885.5us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=43.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:29:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:29:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:29:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:29:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:29:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:29:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
-[05/11 03:29:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:29:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:29:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048493m
-[05/11 03:29:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:29:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:29:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:43 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.3ms, total=166.3ms
-[05/11 03:29:43 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
-    task = runner_class.sample_task_from_spec(
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
-    return task_sampler.sample_task(house_index=house_id)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
-    task = self._sample_task(self.env)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
-    self._sample_and_place_robot(env)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
-    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
-ValueError: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 03:29:43 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
-[05/11 03:29:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:29:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:29:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:29:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:29:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:29:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
-[05/11 03:29:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:29:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:29:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053273m
-[05/11 03:29:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:29:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:29:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67534809  0.86990656  0.05327316] yaw=-148.2deg
-[05/11 03:29:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82538648  0.69279727  0.05327316] yaw=-168.7deg
-[05/11 03:29:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93149158  0.25729035  0.05327316] yaw=159.2deg
-[05/11 03:29:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:29:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:29:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.8ms, total=249.8ms
-[05/11 03:29:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.870, 0.053)
-[05/11 03:29:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
-[05/11 03:29:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m
-[05/11 03:29:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:29:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:29:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:29:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:29:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:29:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
-[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
-[05/11 03:29:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:29:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:29:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
-[05/11 03:29:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.687s, found feasible grasp: True
-[05/11 03:29:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 77.355[deg]
-[05/11 03:29:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:30:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:32:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:32:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:32:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:32:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:33:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:33:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:33:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.96s (batch: 4.79s, save: 9.16s)
-[05/11 03:33:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.57s:
-  episode_total: mean=103.09s, total=206.17s, count=2, min=177.2ms, max=205997.1ms
-  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=430.7ms, max=783.7ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9164.9ms, max=9164.9ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.2ms, max=66.0ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4791.8ms, max=4791.8ms
-  task_specific_sample: mean=368.0ms, total=736.0ms, count=2, min=171.5ms, max=564.6ms
-  task_sampling: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
-  task_sampling_failed: mean=177.2ms, total=177.2ms, count=1, min=177.2ms, max=177.2ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=417.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:33:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:33:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:33:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
-[05/11 03:33:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:33:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:33:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003204m
-[05/11 03:33:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:33:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:33:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19842868  1.10643067  0.00320396] yaw=-136.7deg
-[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06861187  1.22752611  0.00320396] yaw=-138.3deg
-[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90936937  0.16232709  0.00320396] yaw=157.0deg
-[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:33:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:33:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.0ms, total=266.0ms
-[05/11 03:33:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.198, 1.106, 0.003)
-[05/11 03:33:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg
-[05/11 03:33:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:33:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
-[05/11 03:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
-[05/11 03:33:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:33:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:33:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
-[05/11 03:33:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True
-[05/11 03:33:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 84.538[deg]
-[05/11 03:33:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:34:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:35:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:35:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:35:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:35:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
-[05/11 03:35:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.791s, found feasible grasp: True
-[05/11 03:35:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]
-[05/11 03:35:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
-Traceback (most recent call last):
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
-    success = runner_class.run_single_rollout(
-              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
-    action_cmd = policy.get_action(observation)
-                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
-    action = act_prim.get_current_action()
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
-    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
-           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
-    return self._handle_failure()
-           ^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
-    self.reset(reset_retries=False)
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
-    self.action_primitives = self._compute_trajectory()
-                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
-    target_poses = self._compute_target_poses()
-                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
-    raise ValueError("IK failed for pregrasp pose")
-ValueError: IK failed for pregrasp pose
-[05/11 03:35:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:35:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:35:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
-[05/11 03:35:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:35:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:35:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092231m
-[05/11 03:35:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:35:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:35:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:35:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77187383  0.95875467  0.09223106] yaw=-144.2deg
-[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11252544  1.03143517  0.09223106] yaw=-126.9deg
-[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:35:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86683819  0.826812    0.09223106] yaw=-146.3deg
-[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:35:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:35:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.4ms
-[05/11 03:35:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.959, 0.092)
-[05/11 03:35:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg
-[05/11 03:35:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:35:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:35:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:35:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
-[05/11 03:35:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
-[05/11 03:35:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:35:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:35:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
-[05/11 03:35:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.876s, found feasible grasp: True
-[05/11 03:35:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.625[m] 80.584[deg]
-[05/11 03:35:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:38:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:38:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:38:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:38:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:39:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:39:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:39:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.64s (batch: 4.52s, save: 9.12s)
-[05/11 03:39:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.06s:
-  episode_total: mean=177.81s, total=355.61s, count=2, min=146976.7ms, max=208635.7ms
-  sensor_polling: mean=513.8ms, total=274.88s, count=535, min=424.5ms, max=835.2ms
-  physics_step: mean=25.8ms, total=13.80s, count=535, min=16.2ms, max=94.8ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9124.8ms, max=9124.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4518.6ms, max=4518.6ms
-  task_sampling: mean=527.9ms, total=1.06s, count=2, min=405.0ms, max=650.8ms
-  task_specific_sample: mean=523.0ms, total=1.05s, count=2, min=401.4ms, max=644.6ms
-  scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=1.5ms, max=4.6ms
-  mj_forward_sync: mean=507.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-[05/11 03:39:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:39:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:39:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
-[05/11 03:39:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:39:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:39:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006568m
-[05/11 03:39:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:39:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:39:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:39:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01112875  0.16978716  0.00656844] yaw=144.3deg
-[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76876602  0.06255817  0.00656844] yaw=146.7deg
-[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68441461  0.34307525  0.00656844] yaw=179.8deg
-[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
-[05/11 03:39:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:39:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms
-[05/11 03:39:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.170, 0.007)
-[05/11 03:39:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 144.3 deg
-[05/11 03:39:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.758m
-[05/11 03:39:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:39:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:39:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:39:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:39:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
-[05/11 03:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.164s
-[05/11 03:39:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:39:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:39:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.134s, found 88 non-colliding grasps
-[05/11 03:39:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True
-[05/11 03:39:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.306[m] 88.131[deg]
-[05/11 03:39:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:40:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:41:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:41:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:41:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:41:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:41:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
-[05/11 03:41:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True
-[05/11 03:41:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.165[deg]
-[05/11 03:41:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:41:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:41:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:41:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:41:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
-[05/11 03:41:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:41:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:41:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
-[05/11 03:41:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.528s, found feasible grasp: True
-[05/11 03:41:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.885[deg]
-[05/11 03:41:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:41:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:41:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:42:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:42:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:42:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:42:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:42:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:42:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
-[05/11 03:42:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:42:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:42:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 68 non-colliding grasps
-[05/11 03:42:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.874s, found feasible grasp: True
-[05/11 03:42:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.036[m] 12.436[deg]
-[05/11 03:42:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:42:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:43:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:43:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:43:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:43:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:43:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:43:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.78s, save: 9.69s)
-[05/11 03:43:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.54s:
-  episode_total: mean=271.19s, total=271.19s, count=1, min=271187.1ms, max=271187.1ms
-  sensor_polling: mean=530.8ms, total=159.24s, count=300, min=457.5ms, max=1014.5ms
-  save_trajectories: mean=9.69s, total=9.69s, count=1, min=9691.9ms, max=9691.9ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.1ms, max=89.0ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4778.3ms, max=4778.3ms
-  task_sampling: mean=538.0ms, total=538.0ms, count=1, min=538.0ms, max=538.0ms
-  task_specific_sample: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
-  scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  mj_forward_sync: mean=658.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:43:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:43:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:43:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
-[05/11 03:43:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:43:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:43:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023644m
-[05/11 03:43:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:43:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:43:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84486815  0.24949363  0.02364394] yaw=169.9deg
-[05/11 03:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86720101  0.94646827  0.02364394] yaw=-160.3deg
-[05/11 03:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:43:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:43:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=694.4ms, total=694.4ms
-[05/11 03:43:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.249, 0.024)
-[05/11 03:43:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg
-[05/11 03:43:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
-[05/11 03:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:43:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
-[05/11 03:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s
-[05/11 03:43:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:43:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:43:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps
-[05/11 03:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
-[05/11 03:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.437[m] 91.075[deg]
-[05/11 03:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:46:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:46:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
-[05/11 03:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
-[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
-[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
-[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
-[05/11 03:46:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:46:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:46:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps
-[05/11 03:46:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.454s, found feasible grasp: True
-[05/11 03:46:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.980[deg]
-[05/11 03:46:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:46:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
-[05/11 03:47:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:47:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes
-[05/11 03:47:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
-[05/11 03:47:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
-[05/11 03:47:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015
-[05/11 03:47:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.51s (batch: 4.44s, save: 9.07s)
-[05/11 03:47:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.05s:
-  episode_total: mean=228.40s, total=228.40s, count=1, min=228397.6ms, max=228397.6ms
-  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=445.5ms, max=1099.1ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9069.5ms, max=9069.5ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=15.2ms, max=110.0ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.5ms, max=4440.5ms
-  task_sampling: mean=1.05s, total=1.05s, count=1, min=1050.8ms, max=1050.8ms
-  task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1018.1ms, max=1018.1ms
-  scene_randomize: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
-  mj_forward_sync: mean=783.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-[05/11 03:47:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
-[05/11 03:47:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
-
-[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:47:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
-[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
-[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
-[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)
-[05/11 03:47:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
-[05/11 03:47:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
-[05/11 03:47:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080466m
-[05/11 03:47:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
-[05/11 03:47:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
-[05/11 03:47:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
-[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting...
-[05/11 03:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75914341  0.22410733  0.0804664 ] yaw=158.5deg
-[05/11 03:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
-[05/11 03:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87657717  0.10703589  0.0804664 ] yaw=145.6deg
-[05/11 03:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
-[05/11 03:47:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
-[05/11 03:47:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=169.4ms, total=169.4ms
-[05/11 03:47:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.224, 0.080)
-[05/11 03:47:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg
-[05/11 03:47:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
-[05/11 03:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
-[05/11 03:47:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
-[05/11 03:47:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
-[05/11 03:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
-[05/11 03:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
-[05/11 03:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
-[05/11 03:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
-[05/11 03:47:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True
-[05/11 03:47:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.561[m] 90.432[deg]
-[05/11 03:47:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
-
-[05/11 03:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
-[05/11 03:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
-[05/11 03:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
-[05/11 03:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
-[05/11 03:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
-[05/11 03:50:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
-[05/11 03:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
-[05/11 03:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
-[05/11 03:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
-[05/11 03:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
-[05/11 03:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
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